541 lines
19 KiB
C++
541 lines
19 KiB
C++
/*
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---------------------------------------------------------------------------
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Open Asset Import Library (assimp)
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---------------------------------------------------------------------------
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Copyright (c) 2006-2012, assimp team
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All rights reserved.
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Redistribution and use of this software in source and binary forms,
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with or without modification, are permitted provided that the following
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conditions are met:
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* Redistributions of source code must retain the above
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copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above
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copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other
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materials provided with the distribution.
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* Neither the name of the assimp team, nor the names of its
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contributors may be used to endorse or promote products
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derived from this software without specific prior
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written permission of the assimp team.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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---------------------------------------------------------------------------
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*/
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/** @file aiMatrix4x4t<TReal>.inl
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* @brief Inline implementation of the 4x4 matrix operators
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*/
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#ifndef AI_MATRIX4x4_INL_INC
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#define AI_MATRIX4x4_INL_INC
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#ifdef __cplusplus
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#include "matrix4x4.h"
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#include "matrix3x3.h"
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#include "quaternion.h"
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#include <algorithm>
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#include <limits>
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#ifdef __cplusplus
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# include <cmath>
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#else
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# include <math.h>
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#endif
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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aiMatrix4x4t<TReal> ::aiMatrix4x4t () :
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a1(1.0f), a2(), a3(), a4(),
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b1(), b2(1.0f), b3(), b4(),
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c1(), c2(), c3(1.0f), c4(),
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d1(), d2(), d3(), d4(1.0f)
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{
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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aiMatrix4x4t<TReal> ::aiMatrix4x4t (TReal _a1, TReal _a2, TReal _a3, TReal _a4,
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TReal _b1, TReal _b2, TReal _b3, TReal _b4,
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TReal _c1, TReal _c2, TReal _c3, TReal _c4,
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TReal _d1, TReal _d2, TReal _d3, TReal _d4) :
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a1(_a1), a2(_a2), a3(_a3), a4(_a4),
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b1(_b1), b2(_b2), b3(_b3), b4(_b4),
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c1(_c1), c2(_c2), c3(_c3), c4(_c4),
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d1(_d1), d2(_d2), d3(_d3), d4(_d4)
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{
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}
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// ------------------------------------------------------------------------------------------------
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template <typename TReal>
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template <typename TOther>
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aiMatrix4x4t<TReal>::operator aiMatrix4x4t<TOther> () const
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{
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return aiMatrix4x4t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3),static_cast<TOther>(a4),
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static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3),static_cast<TOther>(b4),
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static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3),static_cast<TOther>(c4),
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static_cast<TOther>(d1),static_cast<TOther>(d2),static_cast<TOther>(d3),static_cast<TOther>(d4));
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiMatrix3x3t<TReal>& m)
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{
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a1 = m.a1; a2 = m.a2; a3 = m.a3; a4 = static_cast<TReal>(0.0);
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b1 = m.b1; b2 = m.b2; b3 = m.b3; b4 = static_cast<TReal>(0.0);
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c1 = m.c1; c2 = m.c2; c3 = m.c3; c4 = static_cast<TReal>(0.0);
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d1 = static_cast<TReal>(0.0); d2 = static_cast<TReal>(0.0); d3 = static_cast<TReal>(0.0); d4 = static_cast<TReal>(1.0);
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation, const aiVector3t<TReal>& position)
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{
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// build a 3x3 rotation matrix
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aiMatrix3x3t<TReal> m = rotation.GetMatrix();
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a1 = m.a1 * scaling.x;
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a2 = m.a2 * scaling.x;
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a3 = m.a3 * scaling.x;
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a4 = position.x;
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b1 = m.b1 * scaling.y;
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b2 = m.b2 * scaling.y;
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b3 = m.b3 * scaling.y;
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b4 = position.y;
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c1 = m.c1 * scaling.z;
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c2 = m.c2 * scaling.z;
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c3 = m.c3 * scaling.z;
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c4= position.z;
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d1 = static_cast<TReal>(0.0);
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d2 = static_cast<TReal>(0.0);
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d3 = static_cast<TReal>(0.0);
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d4 = static_cast<TReal>(1.0);
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::operator *= (const aiMatrix4x4t<TReal>& m)
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{
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*this = aiMatrix4x4t<TReal>(
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m.a1 * a1 + m.b1 * a2 + m.c1 * a3 + m.d1 * a4,
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m.a2 * a1 + m.b2 * a2 + m.c2 * a3 + m.d2 * a4,
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m.a3 * a1 + m.b3 * a2 + m.c3 * a3 + m.d3 * a4,
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m.a4 * a1 + m.b4 * a2 + m.c4 * a3 + m.d4 * a4,
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m.a1 * b1 + m.b1 * b2 + m.c1 * b3 + m.d1 * b4,
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m.a2 * b1 + m.b2 * b2 + m.c2 * b3 + m.d2 * b4,
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m.a3 * b1 + m.b3 * b2 + m.c3 * b3 + m.d3 * b4,
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m.a4 * b1 + m.b4 * b2 + m.c4 * b3 + m.d4 * b4,
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m.a1 * c1 + m.b1 * c2 + m.c1 * c3 + m.d1 * c4,
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m.a2 * c1 + m.b2 * c2 + m.c2 * c3 + m.d2 * c4,
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m.a3 * c1 + m.b3 * c2 + m.c3 * c3 + m.d3 * c4,
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m.a4 * c1 + m.b4 * c2 + m.c4 * c3 + m.d4 * c4,
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m.a1 * d1 + m.b1 * d2 + m.c1 * d3 + m.d1 * d4,
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m.a2 * d1 + m.b2 * d2 + m.c2 * d3 + m.d2 * d4,
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m.a3 * d1 + m.b3 * d2 + m.c3 * d3 + m.d3 * d4,
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m.a4 * d1 + m.b4 * d2 + m.c4 * d3 + m.d4 * d4);
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return *this;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const aiMatrix4x4t<TReal>& m) const
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{
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aiMatrix4x4t<TReal> temp( *this);
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temp *= m;
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return temp;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Transpose()
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{
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// (TReal&) don't remove, GCC complains cause of packed fields
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std::swap( (TReal&)b1, (TReal&)a2);
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std::swap( (TReal&)c1, (TReal&)a3);
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std::swap( (TReal&)c2, (TReal&)b3);
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std::swap( (TReal&)d1, (TReal&)a4);
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std::swap( (TReal&)d2, (TReal&)b4);
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std::swap( (TReal&)d3, (TReal&)c4);
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return *this;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline TReal aiMatrix4x4t<TReal>::Determinant() const
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{
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return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4
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+ a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4
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- a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3
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+ a3*b4*c1*d2 - a3*b4*c2*d1 + a3*b1*c2*d4 - a3*b1*c4*d2
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+ a3*b2*c4*d1 - a3*b2*c1*d4 - a4*b1*c2*d3 + a4*b1*c3*d2
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- a4*b2*c3*d1 + a4*b2*c1*d3 - a4*b3*c1*d2 + a4*b3*c2*d1;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse()
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{
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// Compute the reciprocal determinant
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const TReal det = Determinant();
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if(det == static_cast<TReal>(0.0))
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{
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// Matrix not invertible. Setting all elements to nan is not really
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// correct in a mathematical sense but it is easy to debug for the
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// programmer.
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const TReal nan = std::numeric_limits<TReal>::quiet_NaN();
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*this = aiMatrix4x4t<TReal>(
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nan,nan,nan,nan,
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nan,nan,nan,nan,
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nan,nan,nan,nan,
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nan,nan,nan,nan);
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return *this;
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}
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const TReal invdet = static_cast<TReal>(1.0) / det;
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aiMatrix4x4t<TReal> res;
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res.a1 = invdet * (b2 * (c3 * d4 - c4 * d3) + b3 * (c4 * d2 - c2 * d4) + b4 * (c2 * d3 - c3 * d2));
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res.a2 = -invdet * (a2 * (c3 * d4 - c4 * d3) + a3 * (c4 * d2 - c2 * d4) + a4 * (c2 * d3 - c3 * d2));
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res.a3 = invdet * (a2 * (b3 * d4 - b4 * d3) + a3 * (b4 * d2 - b2 * d4) + a4 * (b2 * d3 - b3 * d2));
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res.a4 = -invdet * (a2 * (b3 * c4 - b4 * c3) + a3 * (b4 * c2 - b2 * c4) + a4 * (b2 * c3 - b3 * c2));
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res.b1 = -invdet * (b1 * (c3 * d4 - c4 * d3) + b3 * (c4 * d1 - c1 * d4) + b4 * (c1 * d3 - c3 * d1));
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res.b2 = invdet * (a1 * (c3 * d4 - c4 * d3) + a3 * (c4 * d1 - c1 * d4) + a4 * (c1 * d3 - c3 * d1));
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res.b3 = -invdet * (a1 * (b3 * d4 - b4 * d3) + a3 * (b4 * d1 - b1 * d4) + a4 * (b1 * d3 - b3 * d1));
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res.b4 = invdet * (a1 * (b3 * c4 - b4 * c3) + a3 * (b4 * c1 - b1 * c4) + a4 * (b1 * c3 - b3 * c1));
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res.c1 = invdet * (b1 * (c2 * d4 - c4 * d2) + b2 * (c4 * d1 - c1 * d4) + b4 * (c1 * d2 - c2 * d1));
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res.c2 = -invdet * (a1 * (c2 * d4 - c4 * d2) + a2 * (c4 * d1 - c1 * d4) + a4 * (c1 * d2 - c2 * d1));
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res.c3 = invdet * (a1 * (b2 * d4 - b4 * d2) + a2 * (b4 * d1 - b1 * d4) + a4 * (b1 * d2 - b2 * d1));
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res.c4 = -invdet * (a1 * (b2 * c4 - b4 * c2) + a2 * (b4 * c1 - b1 * c4) + a4 * (b1 * c2 - b2 * c1));
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res.d1 = -invdet * (b1 * (c2 * d3 - c3 * d2) + b2 * (c3 * d1 - c1 * d3) + b3 * (c1 * d2 - c2 * d1));
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res.d2 = invdet * (a1 * (c2 * d3 - c3 * d2) + a2 * (c3 * d1 - c1 * d3) + a3 * (c1 * d2 - c2 * d1));
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res.d3 = -invdet * (a1 * (b2 * d3 - b3 * d2) + a2 * (b3 * d1 - b1 * d3) + a3 * (b1 * d2 - b2 * d1));
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res.d4 = invdet * (a1 * (b2 * c3 - b3 * c2) + a2 * (b3 * c1 - b1 * c3) + a3 * (b1 * c2 - b2 * c1));
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*this = res;
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return *this;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex)
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{
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// XXX this is UB. Has been for years. The fact that it works now does not make it better.
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return &this->a1 + p_iIndex * 4;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline const TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) const
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{
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// XXX same
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return &this->a1 + p_iIndex * 4;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline bool aiMatrix4x4t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const
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{
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return (a1 == m.a1 && a2 == m.a2 && a3 == m.a3 && a4 == m.a4 &&
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b1 == m.b1 && b2 == m.b2 && b3 == m.b3 && b4 == m.b4 &&
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c1 == m.c1 && c2 == m.c2 && c3 == m.c3 && c4 == m.c4 &&
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d1 == m.d1 && d2 == m.d2 && d3 == m.d3 && d4 == m.d4);
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline bool aiMatrix4x4t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const
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{
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return !(*this == m);
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}
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// ---------------------------------------------------------------------------
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template<typename TReal>
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inline bool aiMatrix4x4t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon) const {
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return
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std::abs(a1 - m.a1) <= epsilon &&
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std::abs(a2 - m.a2) <= epsilon &&
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std::abs(a3 - m.a3) <= epsilon &&
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std::abs(a4 - m.a4) <= epsilon &&
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std::abs(b1 - m.b1) <= epsilon &&
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std::abs(b2 - m.b2) <= epsilon &&
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std::abs(b3 - m.b3) <= epsilon &&
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std::abs(b4 - m.b4) <= epsilon &&
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std::abs(c1 - m.c1) <= epsilon &&
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std::abs(c2 - m.c2) <= epsilon &&
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std::abs(c3 - m.c3) <= epsilon &&
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std::abs(c4 - m.c4) <= epsilon &&
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std::abs(d1 - m.d1) <= epsilon &&
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std::abs(d2 - m.d2) <= epsilon &&
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std::abs(d3 - m.d3) <= epsilon &&
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std::abs(d4 - m.d4) <= epsilon;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
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aiVector3t<TReal>& position) const
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{
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const aiMatrix4x4t<TReal>& _this = *this;
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// extract translation
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position.x = _this[0][3];
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position.y = _this[1][3];
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position.z = _this[2][3];
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// extract the rows of the matrix
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aiVector3t<TReal> vRows[3] = {
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aiVector3t<TReal>(_this[0][0],_this[1][0],_this[2][0]),
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aiVector3t<TReal>(_this[0][1],_this[1][1],_this[2][1]),
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aiVector3t<TReal>(_this[0][2],_this[1][2],_this[2][2])
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};
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// extract the scaling factors
|
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scaling.x = vRows[0].Length();
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scaling.y = vRows[1].Length();
|
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scaling.z = vRows[2].Length();
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|
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// and the sign of the scaling
|
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if (Determinant() < 0) {
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scaling.x = -scaling.x;
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scaling.y = -scaling.y;
|
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scaling.z = -scaling.z;
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}
|
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|
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// and remove all scaling from the matrix
|
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if(scaling.x)
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{
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vRows[0] /= scaling.x;
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}
|
||
if(scaling.y)
|
||
{
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vRows[1] /= scaling.y;
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||
}
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if(scaling.z)
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{
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vRows[2] /= scaling.z;
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}
|
||
|
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// build a 3x3 rotation matrix
|
||
aiMatrix3x3t<TReal> m(vRows[0].x,vRows[1].x,vRows[2].x,
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vRows[0].y,vRows[1].y,vRows[2].y,
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vRows[0].z,vRows[1].z,vRows[2].z);
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// and generate the rotation quaternion from it
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||
rotation = aiQuaterniont<TReal>(m);
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}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline void aiMatrix4x4t<TReal>::DecomposeNoScaling (aiQuaterniont<TReal>& rotation,
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aiVector3t<TReal>& position) const
|
||
{
|
||
const aiMatrix4x4t<TReal>& _this = *this;
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||
|
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// extract translation
|
||
position.x = _this[0][3];
|
||
position.y = _this[1][3];
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position.z = _this[2][3];
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// extract rotation
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||
rotation = aiQuaterniont<TReal>((aiMatrix3x3t<TReal>)_this);
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||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb)
|
||
{
|
||
return FromEulerAnglesXYZ(blubb.x,blubb.y,blubb.z);
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(TReal x, TReal y, TReal z)
|
||
{
|
||
aiMatrix4x4t<TReal>& _this = *this;
|
||
|
||
TReal cr = cos( x );
|
||
TReal sr = sin( x );
|
||
TReal cp = cos( y );
|
||
TReal sp = sin( y );
|
||
TReal cy = cos( z );
|
||
TReal sy = sin( z );
|
||
|
||
_this.a1 = cp*cy ;
|
||
_this.a2 = cp*sy;
|
||
_this.a3 = -sp ;
|
||
|
||
TReal srsp = sr*sp;
|
||
TReal crsp = cr*sp;
|
||
|
||
_this.b1 = srsp*cy-cr*sy ;
|
||
_this.b2 = srsp*sy+cr*cy ;
|
||
_this.b3 = sr*cp ;
|
||
|
||
_this.c1 = crsp*cy+sr*sy ;
|
||
_this.c2 = crsp*sy-sr*cy ;
|
||
_this.c3 = cr*cp ;
|
||
|
||
return *this;
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline bool aiMatrix4x4t<TReal>::IsIdentity() const
|
||
{
|
||
// Use a small epsilon to solve floating-point inaccuracies
|
||
const static TReal epsilon = 10e-3f;
|
||
|
||
return (a2 <= epsilon && a2 >= -epsilon &&
|
||
a3 <= epsilon && a3 >= -epsilon &&
|
||
a4 <= epsilon && a4 >= -epsilon &&
|
||
b1 <= epsilon && b1 >= -epsilon &&
|
||
b3 <= epsilon && b3 >= -epsilon &&
|
||
b4 <= epsilon && b4 >= -epsilon &&
|
||
c1 <= epsilon && c1 >= -epsilon &&
|
||
c2 <= epsilon && c2 >= -epsilon &&
|
||
c4 <= epsilon && c4 >= -epsilon &&
|
||
d1 <= epsilon && d1 >= -epsilon &&
|
||
d2 <= epsilon && d2 >= -epsilon &&
|
||
d3 <= epsilon && d3 >= -epsilon &&
|
||
a1 <= 1.f+epsilon && a1 >= 1.f-epsilon &&
|
||
b2 <= 1.f+epsilon && b2 >= 1.f-epsilon &&
|
||
c3 <= 1.f+epsilon && c3 >= 1.f-epsilon &&
|
||
d4 <= 1.f+epsilon && d4 >= 1.f-epsilon);
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationX(TReal a, aiMatrix4x4t<TReal>& out)
|
||
{
|
||
/*
|
||
| 1 0 0 0 |
|
||
M = | 0 cos(A) -sin(A) 0 |
|
||
| 0 sin(A) cos(A) 0 |
|
||
| 0 0 0 1 | */
|
||
out = aiMatrix4x4t<TReal>();
|
||
out.b2 = out.c3 = cos(a);
|
||
out.b3 = -(out.c2 = sin(a));
|
||
return out;
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationY(TReal a, aiMatrix4x4t<TReal>& out)
|
||
{
|
||
/*
|
||
| cos(A) 0 sin(A) 0 |
|
||
M = | 0 1 0 0 |
|
||
| -sin(A) 0 cos(A) 0 |
|
||
| 0 0 0 1 |
|
||
*/
|
||
out = aiMatrix4x4t<TReal>();
|
||
out.a1 = out.c3 = cos(a);
|
||
out.c1 = -(out.a3 = sin(a));
|
||
return out;
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationZ(TReal a, aiMatrix4x4t<TReal>& out)
|
||
{
|
||
/*
|
||
| cos(A) -sin(A) 0 0 |
|
||
M = | sin(A) cos(A) 0 0 |
|
||
| 0 0 1 0 |
|
||
| 0 0 0 1 | */
|
||
out = aiMatrix4x4t<TReal>();
|
||
out.a1 = out.b2 = cos(a);
|
||
out.a2 = -(out.b1 = sin(a));
|
||
return out;
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
// Returns a rotation matrix for a rotation around an arbitrary axis.
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix4x4t<TReal>& out)
|
||
{
|
||
TReal c = cos( a), s = sin( a), t = 1 - c;
|
||
TReal x = axis.x, y = axis.y, z = axis.z;
|
||
|
||
// Many thanks to MathWorld and Wikipedia
|
||
out.a1 = t*x*x + c; out.a2 = t*x*y - s*z; out.a3 = t*x*z + s*y;
|
||
out.b1 = t*x*y + s*z; out.b2 = t*y*y + c; out.b3 = t*y*z - s*x;
|
||
out.c1 = t*x*z - s*y; out.c2 = t*y*z + s*x; out.c3 = t*z*z + c;
|
||
out.a4 = out.b4 = out.c4 = static_cast<TReal>(0.0);
|
||
out.d1 = out.d2 = out.d3 = static_cast<TReal>(0.0);
|
||
out.d4 = static_cast<TReal>(1.0);
|
||
|
||
return out;
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Translation( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out)
|
||
{
|
||
out = aiMatrix4x4t<TReal>();
|
||
out.a4 = v.x;
|
||
out.b4 = v.y;
|
||
out.c4 = v.z;
|
||
return out;
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out)
|
||
{
|
||
out = aiMatrix4x4t<TReal>();
|
||
out.a1 = v.x;
|
||
out.b2 = v.y;
|
||
out.c3 = v.z;
|
||
return out;
|
||
}
|
||
|
||
// ----------------------------------------------------------------------------------------
|
||
/** 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 colum-major form
|
||
* Authors: Tomas M<>ller, John Hughes
|
||
* "Efficiently Building a Matrix to Rotate One Vector to Another"
|
||
* Journal of Graphics Tools, 4(4):1-4, 1999
|
||
*/
|
||
// ----------------------------------------------------------------------------------------
|
||
template <typename TReal>
|
||
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromToMatrix(const aiVector3t<TReal>& from,
|
||
const aiVector3t<TReal>& to, aiMatrix4x4t<TReal>& mtx)
|
||
{
|
||
aiMatrix3x3t<TReal> m3;
|
||
aiMatrix3x3t<TReal>::FromToMatrix(from,to,m3);
|
||
mtx = aiMatrix4x4t<TReal>(m3);
|
||
return mtx;
|
||
}
|
||
|
||
#endif // __cplusplus
|
||
#endif // AI_MATRIX4x4_INL_INC
|