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0032289: Visualization - add NCollection_Mat3 for 3x3 matrix similar to NCollection_Mat4
Introduced NCollection_Mat3 class similar to NCollection_Mat4. Added NCollection_Mat4::operator() alias to NCollection_Mat4::Value(). Added NCollection_Mat4::Negated(), ::Subtracted(), ::Added(), ::Divided() operations. Added a note to NCollection_Mat4::GetData() that matrix values are stored in column-major order. Removed duplicated operator== operators from NCollection_Mat4/NCollection_Vec4/NCollection_Vec3/NCollection_Vec2 classes. Removed obsolete and no more used matrix state fields from OpenGl_Workspace. Removed obsoiete structure OpenGl_Matrix (replaced by OpenGl_Mat4). OpenGl_ShaderProgram - duplicated methods have been replaced by templates.
This commit is contained in:
kgv
bugmaster
@@ -51,6 +51,7 @@ NCollection_List.hxx
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NCollection_ListNode.hxx
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NCollection_LocalArray.hxx
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NCollection_Map.hxx
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NCollection_Mat3.hxx
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NCollection_Mat4.hxx
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NCollection_Sequence.hxx
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NCollection_Shared.hxx
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522
src/NCollection/NCollection_Mat3.hxx
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522
src/NCollection/NCollection_Mat3.hxx
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@@ -0,0 +1,522 @@
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// Copyright (c) 2020 OPEN CASCADE SAS
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//
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// This file is part of Open CASCADE Technology software library.
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//
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// This library is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License version 2.1 as published
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// by the Free Software Foundation, with special exception defined in the file
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// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
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// distribution for complete text of the license and disclaimer of any warranty.
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//
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// Alternatively, this file may be used under the terms of Open CASCADE
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// commercial license or contractual agreement.
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#ifndef _NCollection_Mat3_HeaderFile
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#define _NCollection_Mat3_HeaderFile
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#include <NCollection_Vec3.hxx>
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#include <Standard_ConstructionError.hxx>
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//! 3x3 Matrix class.
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//! Warning, empty constructor returns an identity matrix.
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template<typename Element_t>
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class NCollection_Mat3
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{
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public:
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//! Return identity matrix.
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static NCollection_Mat3 Identity()
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{
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return NCollection_Mat3();
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}
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//! Return zero matrix.
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static NCollection_Mat3 Zero()
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{
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NCollection_Mat3 aMat; aMat.InitZero();
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return aMat;
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}
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public:
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//! Empty constructor for identity matrix.
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NCollection_Mat3()
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{
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InitIdentity();
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}
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//! Conversion constructor (explicitly converts some 3x3 matrix with other element type
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//! to a new 3x3 matrix with the element type Element_t,
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//! whose elements are static_cast'ed corresponding elements of theOtherMat3 matrix)
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//! @tparam OtherElement_t the element type of the other 3x3 matrix theOtherVec3
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//! @param theOtherMat3 the 3x3 matrix that needs to be converted
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template <typename OtherElement_t>
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explicit NCollection_Mat3 (const NCollection_Mat3<OtherElement_t>& theOtherMat3)
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{
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ConvertFrom (theOtherMat3);
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}
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//! Get element at the specified row and column.
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//! @param theRow [in] the row.to address.
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//! @param theCol [in] the column to address.
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//! @return the value of the addressed element.
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Element_t GetValue (const size_t theRow, const size_t theCol) const
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{
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return myMat[theCol * 3 + theRow];
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}
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//! Access element at the specified row and column.
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//! @param theRow [in] the row.to access.
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//! @param theCol [in] the column to access.
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//! @return reference on the matrix element.
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Element_t& ChangeValue (const size_t theRow, const size_t theCol)
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{
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return myMat[theCol * 3 + theRow];
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}
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//! Set value for the element specified by row and columns.
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//! @param theRow [in] the row to change.
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//! @param theCol [in] the column to change.
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//! @param theValue [in] the value to set.s
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void SetValue (const size_t theRow,
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const size_t theCol,
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const Element_t theValue)
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{
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myMat[theCol * 3 + theRow] = theValue;
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}
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//! Return value.
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Element_t& operator()(const size_t theRow, const size_t theCol) { return ChangeValue (theRow, theCol); }
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//! Return value.
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Element_t operator()(const size_t theRow, const size_t theCol) const { return GetValue (theRow, theCol); }
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//! Return the row.
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NCollection_Vec3<Element_t> GetRow (const size_t theRow) const
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{
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return NCollection_Vec3<Element_t> (GetValue (theRow, 0), GetValue (theRow, 1), GetValue (theRow, 2));
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}
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//! Change first 3 row values by the passed vector.
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//! @param theRow [in] the row to change.
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//! @param theVec [in] the vector of values.
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void SetRow (const size_t theRow, const NCollection_Vec3<Element_t>& theVec)
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{
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SetValue (theRow, 0, theVec.x());
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SetValue (theRow, 1, theVec.y());
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SetValue (theRow, 2, theVec.z());
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}
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//! Return the column.
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NCollection_Vec3<Element_t> GetColumn (const size_t theCol) const
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{
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return NCollection_Vec3<Element_t> (GetValue (0, theCol), GetValue (1, theCol), GetValue (2, theCol));
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}
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//! Change first 3 column values by the passed vector.
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//! @param theCol [in] the column to change.
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//! @param theVec [in] the vector of values.
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void SetColumn (const size_t theCol,
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const NCollection_Vec3<Element_t>& theVec)
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{
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SetValue (0, theCol, theVec.x());
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SetValue (1, theCol, theVec.y());
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SetValue (2, theCol, theVec.z());
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}
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//! Get vector of diagonal elements.
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//! @return vector of diagonal elements.
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NCollection_Vec3<Element_t> GetDiagonal() const
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{
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return NCollection_Vec3<Element_t> (GetValue (0, 0), GetValue (1, 1), GetValue (2, 2));
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}
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//! Change first 3 elements of the diagonal matrix.
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//! @param theVec the vector of values.
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void SetDiagonal (const NCollection_Vec3<Element_t>& theVec)
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{
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SetValue (0, 0, theVec.x());
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SetValue (1, 1, theVec.y());
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SetValue (2, 2, theVec.z());
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}
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//! Initialize the zero matrix.
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void InitZero()
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{
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std::memcpy (this, MyZeroArray, sizeof (NCollection_Mat3));
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}
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//! Checks the matrix for zero (without tolerance).
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bool IsZero() const
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{
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return std::memcmp (this, MyZeroArray, sizeof (NCollection_Mat3)) == 0;
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}
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//! Initialize the identity matrix.
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void InitIdentity()
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{
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std::memcpy (this, MyIdentityArray, sizeof (NCollection_Mat3));
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}
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//! Checks the matrix for identity (without tolerance).
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bool IsIdentity() const
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{
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return std::memcmp (this, MyIdentityArray, sizeof (NCollection_Mat3)) == 0;
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}
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//! Check this matrix for equality with another matrix (without tolerance!).
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bool IsEqual (const NCollection_Mat3& theOther) const
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{
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return std::memcmp (this, &theOther, sizeof(NCollection_Mat3)) == 0;
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}
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//! Comparison operator.
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bool operator== (const NCollection_Mat3& theMat) const { return IsEqual (theMat); }
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//! Check this vector with another vector for non-equality (without tolerance!).
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bool operator!= (const NCollection_Mat3& theOther) const { return !IsEqual (theOther); }
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//! Raw access to the data (for OpenGL exchange).
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//! the data is returned in column-major order.
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const Element_t* GetData() const { return myMat; }
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Element_t* ChangeData() { return myMat; }
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//! Multiply by the vector (M * V).
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//! @param theVec [in] the vector to multiply.
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NCollection_Vec3<Element_t> operator* (const NCollection_Vec3<Element_t>& theVec) const
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{
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return NCollection_Vec3<Element_t> (
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GetValue (0, 0) * theVec.x() + GetValue (0, 1) * theVec.y() + GetValue (0, 2) * theVec.z(),
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GetValue (1, 0) * theVec.x() + GetValue (1, 1) * theVec.y() + GetValue (1, 2) * theVec.z(),
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GetValue (2, 0) * theVec.x() + GetValue (2, 1) * theVec.y() + GetValue (2, 2) * theVec.z());
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}
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//! Compute matrix multiplication product: A * B.
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//! @param theMatA [in] the matrix "A".
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//! @param theMatB [in] the matrix "B".
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static NCollection_Mat3 Multiply (const NCollection_Mat3& theMatA,
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const NCollection_Mat3& theMatB)
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{
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NCollection_Mat3 aMatRes;
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size_t aInputElem;
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for (size_t aResElem = 0; aResElem < 9; ++aResElem)
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{
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aMatRes.myMat[aResElem] = (Element_t )0;
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for (aInputElem = 0; aInputElem < 3; ++aInputElem)
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{
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aMatRes.myMat[aResElem] += theMatA.GetValue(aResElem % 3, aInputElem)
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* theMatB.GetValue(aInputElem, aResElem / 3);
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}
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}
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return aMatRes;
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}
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//! Compute matrix multiplication.
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//! @param theMat [in] the matrix to multiply.
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void Multiply (const NCollection_Mat3& theMat)
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{
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*this = Multiply(*this, theMat);
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}
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//! Multiply by the another matrix.
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//! @param theMat [in] the other matrix.
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NCollection_Mat3& operator*= (const NCollection_Mat3& theMat)
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{
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Multiply (theMat);
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return *this;
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}
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//! Compute matrix multiplication product.
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//! @param theMat [in] the other matrix.
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//! @return result of multiplication.
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Standard_NODISCARD NCollection_Mat3 operator* (const NCollection_Mat3& theMat) const
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{
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return Multiplied (theMat);
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}
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//! Compute matrix multiplication product.
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//! @param theMat [in] the other matrix.
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//! @return result of multiplication.
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Standard_NODISCARD NCollection_Mat3 Multiplied (const NCollection_Mat3& theMat) const
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{
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NCollection_Mat3 aTempMat (*this);
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aTempMat *= theMat;
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return aTempMat;
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}
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//! Compute per-component multiplication.
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//! @param theFactor [in] the scale factor.
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void Multiply (const Element_t theFactor)
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{
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for (size_t i = 0; i < 9; ++i)
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{
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myMat[i] *= theFactor;
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}
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}
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//! Compute per-element multiplication.
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//! @param theFactor [in] the scale factor.
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NCollection_Mat3& operator*= (const Element_t theFactor)
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{
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Multiply (theFactor);
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return *this;
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}
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//! Compute per-element multiplication.
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//! @param theFactor [in] the scale factor.
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//! @return the result of multiplication.
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Standard_NODISCARD NCollection_Mat3 operator* (const Element_t theFactor) const
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{
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return Multiplied (theFactor);
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}
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//! Compute per-element multiplication.
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//! @param theFactor [in] the scale factor.
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//! @return the result of multiplication.
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Standard_NODISCARD NCollection_Mat3 Multiplied (const Element_t theFactor) const
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{
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NCollection_Mat3 aTempMat (*this);
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aTempMat *= theFactor;
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return aTempMat;
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}
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//! Compute per-component division.
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//! @param theFactor [in] the scale factor.
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void Divide (const Element_t theFactor)
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{
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for (size_t i = 0; i < 9; ++i)
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{
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myMat[i] /= theFactor;
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}
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}
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//! Per-component division.
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//! @param theScalar [in] the scale factor.
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NCollection_Mat3& operator/= (const Element_t theScalar)
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{
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Divide (theScalar);
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return *this;
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}
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//! Divides all the coefficients of the matrix by scalar.
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Standard_NODISCARD NCollection_Mat3 Divided (const Element_t theScalar) const
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{
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NCollection_Mat3 aTempMat (*this);
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aTempMat /= theScalar;
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return aTempMat;
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}
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//! Divides all the coefficients of the matrix by scalar.
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Standard_NODISCARD NCollection_Mat3 operator/ (const Element_t theScalar) const
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{
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return Divided (theScalar);
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}
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//! Per-component addition of another matrix.
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void Add (const NCollection_Mat3& theMat)
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{
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for (size_t i = 0; i < 9; ++i)
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{
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myMat[i] += theMat.myMat[i];
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}
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}
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//! Per-component addition of another matrix.
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NCollection_Mat3& operator+= (const NCollection_Mat3& theMat)
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{
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Add (theMat);
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return *this;
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}
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//! Per-component subtraction of another matrix.
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void Subtract (const NCollection_Mat3& theMat)
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{
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for (size_t i = 0; i < 9; ++i)
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{
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myMat[i] -= theMat.myMat[i];
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}
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}
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//! Per-component subtraction of another matrix.
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NCollection_Mat3& operator-= (const NCollection_Mat3& theMat)
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{
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Subtract (theMat);
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return *this;
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}
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//! Per-component addition of another matrix.
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Standard_NODISCARD NCollection_Mat3 Added (const NCollection_Mat3& theMat) const
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{
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NCollection_Mat3 aMat (*this);
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aMat += theMat;
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return aMat;
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}
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//! Per-component addition of another matrix.
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Standard_NODISCARD NCollection_Mat3 operator+ (const NCollection_Mat3& theMat) const
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{
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return Added (theMat);
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}
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//! Per-component subtraction of another matrix.
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Standard_NODISCARD NCollection_Mat3 Subtracted (const NCollection_Mat3& theMat) const
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{
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NCollection_Mat3 aMat (*this);
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aMat -= theMat;
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return aMat;
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}
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//! Per-component subtraction of another matrix.
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Standard_NODISCARD NCollection_Mat3 operator- (const NCollection_Mat3& theMat) const
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{
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return Subtracted (theMat);
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}
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//! Returns matrix with all components negated.
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Standard_NODISCARD NCollection_Mat3 Negated() const
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{
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NCollection_Mat3 aMat;
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for (size_t i = 0; i < 9; ++i)
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{
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aMat.myMat[i] = -myMat[i];
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}
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return aMat;
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}
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//! Returns matrix with all components negated.
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Standard_NODISCARD NCollection_Mat3 operator-() const
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{
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return Negated();
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}
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//! Transpose the matrix.
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//! @return transposed copy of the matrix.
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Standard_NODISCARD NCollection_Mat3 Transposed() const
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{
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NCollection_Mat3 aTempMat;
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aTempMat.SetRow (0, GetColumn (0));
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aTempMat.SetRow (1, GetColumn (1));
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aTempMat.SetRow (2, GetColumn (2));
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return aTempMat;
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}
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//! Transpose the matrix.
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void Transpose()
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{
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*this = Transposed();
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}
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//! Return adjoint (adjugate matrix, e.g. conjugate transpose).
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Standard_NODISCARD NCollection_Mat3 Adjoint() const
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{
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NCollection_Mat3 aMat;
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aMat.SetRow (0, NCollection_Vec3<Element_t>::Cross (GetRow(1), GetRow(2)));
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aMat.SetRow (1, NCollection_Vec3<Element_t>::Cross (GetRow(2), GetRow(0)));
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aMat.SetRow (2, NCollection_Vec3<Element_t>::Cross (GetRow(0), GetRow(1)));
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return aMat;
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}
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//! Compute inverted matrix.
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//! @param theOutMx [out] the inverted matrix
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//! @param theDet [out] determinant of matrix
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||||
//! @return true if reversion success
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bool Inverted (NCollection_Mat3& theInv, Element_t& theDet) const
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{
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const NCollection_Mat3 aMat = Adjoint();
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theDet = aMat.GetRow(0).Dot (GetRow(0));
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if (theDet == Element_t(0))
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{
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return false;
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}
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theInv = aMat.Transposed() / theDet;
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return true;
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}
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//! Compute inverted matrix.
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//! @param theOutMx [out] the inverted matrix
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||||
//! @return true if reversion success
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bool Inverted (NCollection_Mat3& theInv) const
|
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{
|
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Element_t aDet;
|
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return Inverted (theInv, aDet);
|
||||
}
|
||||
|
||||
//! Return inverted matrix.
|
||||
NCollection_Mat3 Inverted() const
|
||||
{
|
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NCollection_Mat3 anInv;
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if (!Inverted (anInv))
|
||||
{
|
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throw Standard_ConstructionError ("NCollection_Mat3::Inverted() - matrix has zero determinant");
|
||||
}
|
||||
return anInv;
|
||||
}
|
||||
|
||||
//! Take values from NCollection_Mat3 with a different element type with type conversion.
|
||||
template <typename Other_t>
|
||||
void ConvertFrom (const NCollection_Mat3<Other_t>& theFrom)
|
||||
{
|
||||
for (int anIdx = 0; anIdx < 9; ++anIdx)
|
||||
{
|
||||
myMat[anIdx] = static_cast<Element_t> (theFrom.myMat[anIdx]);
|
||||
}
|
||||
}
|
||||
|
||||
//! Maps plain C array to matrix type.
|
||||
static NCollection_Mat3<Element_t>& Map (Element_t* theData)
|
||||
{
|
||||
return *reinterpret_cast<NCollection_Mat3<Element_t>*> (theData);
|
||||
}
|
||||
|
||||
//! Maps plain C array to matrix type.
|
||||
static const NCollection_Mat3<Element_t>& Map (const Element_t* theData)
|
||||
{
|
||||
return *reinterpret_cast<const NCollection_Mat3<Element_t>*> (theData);
|
||||
}
|
||||
|
||||
//! Dumps the content of me into the stream
|
||||
void DumpJson (Standard_OStream& theOStream, Standard_Integer) const
|
||||
{
|
||||
OCCT_DUMP_FIELD_VALUES_NUMERICAL (theOStream, "NCollection_Mat3", 9,
|
||||
GetValue (0, 0), GetValue (0, 1), GetValue (0, 2),
|
||||
GetValue (1, 0), GetValue (1, 1), GetValue (1, 2),
|
||||
GetValue (2, 0), GetValue (2, 1), GetValue (2, 2))
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
Element_t myMat[9];
|
||||
|
||||
private:
|
||||
|
||||
static const Element_t MyZeroArray[9];
|
||||
static const Element_t MyIdentityArray[9];
|
||||
|
||||
// All instantiations are friend to each other
|
||||
template<class OtherType> friend class NCollection_Mat3;
|
||||
};
|
||||
|
||||
template<typename Element_t>
|
||||
const Element_t NCollection_Mat3<Element_t>::MyZeroArray[] =
|
||||
{0, 0, 0,
|
||||
0, 0, 0,
|
||||
0, 0, 0};
|
||||
|
||||
template<typename Element_t>
|
||||
const Element_t NCollection_Mat3<Element_t>::MyIdentityArray[] =
|
||||
{1, 0, 0,
|
||||
0, 1, 0,
|
||||
0, 0, 1};
|
||||
|
||||
#if defined(_MSC_VER) && (_MSC_VER >= 1900)
|
||||
#include <type_traits>
|
||||
|
||||
static_assert(std::is_trivially_copyable<NCollection_Mat3<float>>::value, "NCollection_Mat3 is not is_trivially_copyable() structure!");
|
||||
static_assert(std::is_standard_layout <NCollection_Mat3<float>>::value, "NCollection_Mat3 is not is_standard_layout() structure!");
|
||||
static_assert(sizeof(NCollection_Mat3<float>) == sizeof(float)*9, "NCollection_Mat3 is not packed/aligned!");
|
||||
#endif
|
||||
|
||||
#endif // _NCollection_Mat3_HeaderFile
|
||||
@@ -17,17 +17,15 @@
|
||||
#define _NCollection_Mat4_HeaderFile
|
||||
|
||||
#include <NCollection_Vec4.hxx>
|
||||
#include <Standard_Dump.hxx>
|
||||
#include <Standard_OStream.hxx>
|
||||
#include <NCollection_Mat3.hxx>
|
||||
|
||||
//! Generic matrix of 4 x 4 elements.
|
||||
//! To be used in conjunction with NCollection_Vec4 entities.
|
||||
//! Originally introduced for 3D space projection and orientation
|
||||
//! operations.
|
||||
//! Originally introduced for 3D space projection and orientation operations.
|
||||
//! Warning, empty constructor returns an identity matrix.
|
||||
template<typename Element_t>
|
||||
class NCollection_Mat4
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
//! Get number of rows.
|
||||
@@ -44,8 +42,23 @@ public:
|
||||
return 4;
|
||||
}
|
||||
|
||||
//! Return identity matrix.
|
||||
static NCollection_Mat4 Identity()
|
||||
{
|
||||
return NCollection_Mat4();
|
||||
}
|
||||
|
||||
//! Return zero matrix.
|
||||
static NCollection_Mat4 Zero()
|
||||
{
|
||||
NCollection_Mat4 aMat; aMat.InitZero();
|
||||
return aMat;
|
||||
}
|
||||
|
||||
public:
|
||||
|
||||
//! Empty constructor.
|
||||
//! Construct the zero matrix.
|
||||
//! Construct the identity matrix.
|
||||
NCollection_Mat4()
|
||||
{
|
||||
InitIdentity();
|
||||
@@ -63,7 +76,7 @@ public:
|
||||
}
|
||||
|
||||
//! Get element at the specified row and column.
|
||||
//! @param theRow [in] the row.to address.
|
||||
//! @param theRow [in] the row to address.
|
||||
//! @param theCol [in] the column to address.
|
||||
//! @return the value of the addressed element.
|
||||
Element_t GetValue (const size_t theRow, const size_t theCol) const
|
||||
@@ -72,7 +85,7 @@ public:
|
||||
}
|
||||
|
||||
//! Access element at the specified row and column.
|
||||
//! @param theRow [in] the row.to access.
|
||||
//! @param theRow [in] the row to access.
|
||||
//! @param theCol [in] the column to access.
|
||||
//! @return reference on the matrix element.
|
||||
Element_t& ChangeValue (const size_t theRow, const size_t theCol)
|
||||
@@ -83,7 +96,7 @@ public:
|
||||
//! Set value for the element specified by row and columns.
|
||||
//! @param theRow [in] the row to change.
|
||||
//! @param theCol [in] the column to change.
|
||||
//! @param theValue [in] the value to set.s
|
||||
//! @param theValue [in] the value to set.
|
||||
void SetValue (const size_t theRow,
|
||||
const size_t theCol,
|
||||
const Element_t theValue)
|
||||
@@ -91,6 +104,12 @@ public:
|
||||
myMat[theCol * 4 + theRow] = theValue;
|
||||
}
|
||||
|
||||
//! Return value.
|
||||
Element_t& operator() (const size_t theRow, const size_t theCol) { return ChangeValue (theRow, theCol); }
|
||||
|
||||
//! Return value.
|
||||
Element_t operator() (const size_t theRow, const size_t theCol) const { return GetValue (theRow, theCol); }
|
||||
|
||||
//! Get vector of elements for the specified row.
|
||||
//! @param theRow [in] the row to access.
|
||||
//! @return vector of elements.
|
||||
@@ -158,7 +177,7 @@ public:
|
||||
}
|
||||
|
||||
//! Get vector of diagonal elements.
|
||||
//! \return vector of diagonal elements.
|
||||
//! @return vector of diagonal elements.
|
||||
NCollection_Vec4<Element_t> GetDiagonal() const
|
||||
{
|
||||
return NCollection_Vec4<Element_t> (GetValue (0, 0),
|
||||
@@ -186,16 +205,38 @@ public:
|
||||
SetValue (3, 3, theVec.w());
|
||||
}
|
||||
|
||||
//! Return 3x3 sub-matrix.
|
||||
NCollection_Mat3<Element_t> GetMat3() const
|
||||
{
|
||||
NCollection_Mat3<Element_t> aMat;
|
||||
aMat.SetColumn (0, GetColumn (0).xyz());
|
||||
aMat.SetColumn (1, GetColumn (1).xyz());
|
||||
aMat.SetColumn (2, GetColumn (2).xyz());
|
||||
return aMat;
|
||||
}
|
||||
|
||||
//! Initialize the zero matrix.
|
||||
void InitZero()
|
||||
{
|
||||
std::memcpy (this, MyZeroArray, sizeof (NCollection_Mat4));
|
||||
}
|
||||
|
||||
//! Checks the matrix for zero (without tolerance).
|
||||
bool IsZero() const
|
||||
{
|
||||
return std::memcmp (this, MyZeroArray, sizeof (NCollection_Mat4)) == 0;
|
||||
}
|
||||
|
||||
//! Initialize the identity matrix.
|
||||
void InitIdentity()
|
||||
{
|
||||
std::memcpy (this, myIdentityArray, sizeof (NCollection_Mat4));
|
||||
std::memcpy (this, MyIdentityArray, sizeof (NCollection_Mat4));
|
||||
}
|
||||
|
||||
//! Checks the matrix for identity.
|
||||
//! Checks the matrix for identity (without tolerance).
|
||||
bool IsIdentity() const
|
||||
{
|
||||
return std::memcmp (this, myIdentityArray, sizeof (NCollection_Mat4)) == 0;
|
||||
return std::memcmp (this, MyIdentityArray, sizeof (NCollection_Mat4)) == 0;
|
||||
}
|
||||
|
||||
//! Check this matrix for equality with another matrix (without tolerance!).
|
||||
@@ -205,18 +246,15 @@ public:
|
||||
}
|
||||
|
||||
//! Check this matrix for equality with another matrix (without tolerance!).
|
||||
bool operator== (const NCollection_Mat4& theOther) { return IsEqual (theOther); }
|
||||
bool operator== (const NCollection_Mat4& theOther) const { return IsEqual (theOther); }
|
||||
|
||||
//! Check this matrix for non-equality with another matrix (without tolerance!).
|
||||
bool operator!= (const NCollection_Mat4& theOther) { return !IsEqual (theOther); }
|
||||
bool operator!= (const NCollection_Mat4& theOther) const { return !IsEqual (theOther); }
|
||||
|
||||
//! Raw access to the data (for OpenGL exchange).
|
||||
//! Raw access to the data (for OpenGL exchange);
|
||||
//! the data is returned in column-major order.
|
||||
const Element_t* GetData() const { return myMat; }
|
||||
Element_t* ChangeData() { return myMat; }
|
||||
operator const Element_t*() const { return myMat; }
|
||||
operator Element_t*() { return myMat; }
|
||||
|
||||
//! Multiply by the vector (M * V).
|
||||
//! @param theVec [in] the vector to multiply.
|
||||
@@ -232,19 +270,19 @@ public:
|
||||
//! Compute matrix multiplication product: A * B.
|
||||
//! @param theMatA [in] the matrix "A".
|
||||
//! @param theMatB [in] the matrix "B".
|
||||
NCollection_Mat4 Multiply (const NCollection_Mat4& theMatA,
|
||||
const NCollection_Mat4& theMatB)
|
||||
static NCollection_Mat4 Multiply (const NCollection_Mat4& theMatA,
|
||||
const NCollection_Mat4& theMatB)
|
||||
{
|
||||
NCollection_Mat4 aMatRes;
|
||||
|
||||
size_t aInputElem;
|
||||
for (size_t aResElem = 0; aResElem < 16; ++aResElem)
|
||||
{
|
||||
aMatRes[aResElem] = (Element_t )0;
|
||||
aMatRes.myMat[aResElem] = (Element_t )0;
|
||||
for (aInputElem = 0; aInputElem < 4; ++aInputElem)
|
||||
{
|
||||
aMatRes[aResElem] += theMatA.GetValue(aResElem % 4, aInputElem)
|
||||
* theMatB.GetValue(aInputElem, aResElem / 4);
|
||||
aMatRes.myMat[aResElem] += theMatA.GetValue(aResElem % 4, aInputElem)
|
||||
* theMatB.GetValue(aInputElem, aResElem / 4);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -269,7 +307,7 @@ public:
|
||||
//! Compute matrix multiplication product.
|
||||
//! @param theMat [in] the other matrix.
|
||||
//! @return result of multiplication.
|
||||
NCollection_Mat4 operator* (const NCollection_Mat4& theMat) const
|
||||
Standard_NODISCARD NCollection_Mat4 operator* (const NCollection_Mat4& theMat) const
|
||||
{
|
||||
return Multiplied (theMat);
|
||||
}
|
||||
@@ -277,7 +315,7 @@ public:
|
||||
//! Compute matrix multiplication product.
|
||||
//! @param theMat [in] the other matrix.
|
||||
//! @return result of multiplication.
|
||||
NCollection_Mat4 Multiplied (const NCollection_Mat4& theMat) const
|
||||
Standard_NODISCARD NCollection_Mat4 Multiplied (const NCollection_Mat4& theMat) const
|
||||
{
|
||||
NCollection_Mat4 aTempMat (*this);
|
||||
aTempMat *= theMat;
|
||||
@@ -296,7 +334,7 @@ public:
|
||||
|
||||
//! Compute per-element multiplication.
|
||||
//! @param theFactor [in] the scale factor.
|
||||
NCollection_Mat4& operator*=(const Element_t theFactor)
|
||||
NCollection_Mat4& operator*= (const Element_t theFactor)
|
||||
{
|
||||
Multiply (theFactor);
|
||||
return *this;
|
||||
@@ -304,22 +342,122 @@ public:
|
||||
|
||||
//! Compute per-element multiplication.
|
||||
//! @param theFactor [in] the scale factor.
|
||||
//! @return the result of multiplicaton.
|
||||
NCollection_Mat4 operator* (const Element_t theFactor) const
|
||||
//! @return the result of multiplication.
|
||||
Standard_NODISCARD NCollection_Mat4 operator* (const Element_t theFactor) const
|
||||
{
|
||||
return Multiplied (theFactor);
|
||||
}
|
||||
|
||||
//! Compute per-element multiplication.
|
||||
//! @param theFactor [in] the scale factor.
|
||||
//! @return the result of multiplicaton.
|
||||
NCollection_Mat4 Multiplied (const Element_t theFactor) const
|
||||
//! @return the result of multiplication.
|
||||
Standard_NODISCARD NCollection_Mat4 Multiplied (const Element_t theFactor) const
|
||||
{
|
||||
NCollection_Mat4 aTempMat (*this);
|
||||
aTempMat *= theFactor;
|
||||
return aTempMat;
|
||||
}
|
||||
|
||||
//! Compute per-component division.
|
||||
//! @param theFactor [in] the scale factor.
|
||||
void Divide (const Element_t theFactor)
|
||||
{
|
||||
for (size_t i = 0; i < 16; ++i)
|
||||
{
|
||||
myMat[i] /= theFactor;
|
||||
}
|
||||
}
|
||||
|
||||
//! Per-component division.
|
||||
//! @param theScalar [in] the scale factor.
|
||||
NCollection_Mat4& operator/= (const Element_t theScalar)
|
||||
{
|
||||
Divide (theScalar);
|
||||
return *this;
|
||||
}
|
||||
|
||||
//! Divides all the coefficients of the matrix by scalar.
|
||||
Standard_NODISCARD NCollection_Mat4 Divided (const Element_t theScalar) const
|
||||
{
|
||||
NCollection_Mat4 aTempMat (*this);
|
||||
aTempMat /= theScalar;
|
||||
return aTempMat;
|
||||
}
|
||||
|
||||
//! Divides all the coefficients of the matrix by scalar.
|
||||
Standard_NODISCARD NCollection_Mat4 operator/ (const Element_t theScalar) const
|
||||
{
|
||||
return Divided (theScalar);
|
||||
}
|
||||
|
||||
//! Per-component addition of another matrix.
|
||||
void Add (const NCollection_Mat4& theMat)
|
||||
{
|
||||
for (size_t i = 0; i < 16; ++i)
|
||||
{
|
||||
myMat[i] += theMat.myMat[i];
|
||||
}
|
||||
}
|
||||
|
||||
//! Per-component addition of another matrix.
|
||||
NCollection_Mat4& operator+= (const NCollection_Mat4& theMat)
|
||||
{
|
||||
Add (theMat);
|
||||
return *this;
|
||||
}
|
||||
|
||||
//! Per-component subtraction of another matrix.
|
||||
void Subtract (const NCollection_Mat4& theMat)
|
||||
{
|
||||
for (size_t i = 0; i < 16; ++i)
|
||||
{
|
||||
myMat[i] -= theMat.myMat[i];
|
||||
}
|
||||
}
|
||||
|
||||
//! Per-component subtraction of another matrix.
|
||||
NCollection_Mat4& operator-= (const NCollection_Mat4& theMat)
|
||||
{
|
||||
Subtract (theMat);
|
||||
return *this;
|
||||
}
|
||||
|
||||
//! Per-component addition of another matrix.
|
||||
Standard_NODISCARD NCollection_Mat4 Added (const NCollection_Mat4& theMat) const
|
||||
{
|
||||
NCollection_Mat4 aMat (*this);
|
||||
aMat += theMat;
|
||||
return aMat;
|
||||
}
|
||||
|
||||
//! Per-component addition of another matrix.
|
||||
Standard_NODISCARD NCollection_Mat4 operator+ (const NCollection_Mat4& theMat) const { return Added (theMat); }
|
||||
|
||||
//! Per-component subtraction of another matrix.
|
||||
Standard_NODISCARD NCollection_Mat4 Subtracted (const NCollection_Mat4& theMat) const
|
||||
{
|
||||
NCollection_Mat4 aMat (*this);
|
||||
aMat -= theMat;
|
||||
return aMat;
|
||||
}
|
||||
|
||||
//! Per-component subtraction of another matrix.
|
||||
Standard_NODISCARD NCollection_Mat4 operator- (const NCollection_Mat4& theMat) const { return Subtracted (theMat); }
|
||||
|
||||
//! Returns matrix with all components negated.
|
||||
Standard_NODISCARD NCollection_Mat4 Negated() const
|
||||
{
|
||||
NCollection_Mat4 aMat;
|
||||
for (size_t i = 0; i < 16; ++i)
|
||||
{
|
||||
aMat.myMat[i] = -myMat[i];
|
||||
}
|
||||
return aMat;
|
||||
}
|
||||
|
||||
//! Returns matrix with all components negated.
|
||||
Standard_NODISCARD NCollection_Mat4 operator-() const { return Negated(); }
|
||||
|
||||
//! Translate the matrix on the passed vector.
|
||||
//! @param theVec [in] the translation vector.
|
||||
void Translate (const NCollection_Vec3<Element_t>& theVec)
|
||||
@@ -331,7 +469,7 @@ public:
|
||||
|
||||
//! Transpose the matrix.
|
||||
//! @return transposed copy of the matrix.
|
||||
NCollection_Mat4 Transposed() const
|
||||
Standard_NODISCARD NCollection_Mat4 Transposed() const
|
||||
{
|
||||
NCollection_Mat4 aTempMat;
|
||||
aTempMat.SetRow (0, GetColumn (0));
|
||||
@@ -348,9 +486,10 @@ public:
|
||||
}
|
||||
|
||||
//! Compute inverted matrix.
|
||||
//! @param theOutMx [out] the inverted matrix.
|
||||
//! @return true if reversion success.
|
||||
bool Inverted (NCollection_Mat4<Element_t>& theOutMx) const
|
||||
//! @param theOutMx [out] the inverted matrix
|
||||
//! @param theDet [out] determinant of matrix
|
||||
//! @return true if reversion success
|
||||
bool Inverted (NCollection_Mat4<Element_t>& theOutMx, Element_t& theDet) const
|
||||
{
|
||||
Element_t* inv = theOutMx.myMat;
|
||||
|
||||
@@ -421,22 +560,54 @@ public:
|
||||
m[ 4] * (m[ 1] * m[10] - m[ 2] * m[ 9]) -
|
||||
m[ 8] * (m[ 2] * m[ 5] - m[ 1] * m[ 6]);
|
||||
|
||||
Element_t aDet = m[0] * inv[ 0] +
|
||||
m[1] * inv[ 4] +
|
||||
m[2] * inv[ 8] +
|
||||
m[3] * inv[12];
|
||||
|
||||
if (aDet == 0)
|
||||
theDet = m[0] * inv[ 0] +
|
||||
m[1] * inv[ 4] +
|
||||
m[2] * inv[ 8] +
|
||||
m[3] * inv[12];
|
||||
if (theDet == 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
aDet = (Element_t) 1. / aDet;
|
||||
|
||||
const Element_t aDiv = (Element_t) 1. / theDet;
|
||||
for (int i = 0; i < 16; ++i)
|
||||
inv[i] *= aDet;
|
||||
|
||||
{
|
||||
inv[i] *= aDiv;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
//! Compute inverted matrix.
|
||||
//! @param theOutMx [out] the inverted matrix
|
||||
//! @return true if reversion success
|
||||
bool Inverted (NCollection_Mat4<Element_t>& theOutMx) const
|
||||
{
|
||||
Element_t aDet;
|
||||
return Inverted (theOutMx, aDet);
|
||||
}
|
||||
|
||||
//! Return inverted matrix.
|
||||
NCollection_Mat4 Inverted() const
|
||||
{
|
||||
NCollection_Mat4 anInv;
|
||||
if (!Inverted (anInv))
|
||||
{
|
||||
throw Standard_ConstructionError ("NCollection_Mat4::Inverted() - matrix has zero determinant");
|
||||
}
|
||||
return anInv;
|
||||
}
|
||||
|
||||
//! Return adjoint (adjugate matrix, e.g. conjugate transpose).
|
||||
Standard_NODISCARD NCollection_Mat4<Element_t> Adjoint() const
|
||||
{
|
||||
NCollection_Mat4<Element_t> aMat;
|
||||
aMat.SetRow (0, crossVec4 ( GetRow (1), GetRow (2), GetRow (3)));
|
||||
aMat.SetRow (1, crossVec4 (-GetRow (0), GetRow (2), GetRow (3)));
|
||||
aMat.SetRow (2, crossVec4 ( GetRow (0), GetRow (1), GetRow (3)));
|
||||
aMat.SetRow (3, crossVec4 (-GetRow (0), GetRow (1), GetRow (2)));
|
||||
return aMat;
|
||||
}
|
||||
|
||||
//! Take values from NCollection_Mat4 with a different element type with type conversion.
|
||||
template <typename Other_t>
|
||||
void ConvertFrom (const NCollection_Mat4<Other_t>& theFrom)
|
||||
@@ -473,13 +644,36 @@ public:
|
||||
GetValue (3, 0), GetValue (3, 1), GetValue (3, 2), GetValue (3, 3))
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
//! Cross-product has no direct meaning in 4D space - provided for local usage.
|
||||
static NCollection_Vec4<Element_t> crossVec4 (const NCollection_Vec4<Element_t>& theA,
|
||||
const NCollection_Vec4<Element_t>& theB,
|
||||
const NCollection_Vec4<Element_t>& theC)
|
||||
{
|
||||
const Element_t aD1 = (theB.z() * theC.w()) - (theB.w() * theC.z());
|
||||
const Element_t aD2 = (theB.y() * theC.w()) - (theB.w() * theC.y());
|
||||
const Element_t aD3 = (theB.y() * theC.z()) - (theB.z() * theC.y());
|
||||
const Element_t aD4 = (theB.x() * theC.w()) - (theB.w() * theC.x());
|
||||
const Element_t aD5 = (theB.x() * theC.z()) - (theB.z() * theC.x());
|
||||
const Element_t aD6 = (theB.x() * theC.y()) - (theB.y() * theC.x());
|
||||
|
||||
NCollection_Vec4<Element_t> aVec;
|
||||
aVec.x() = -theA.y() * aD1 + theA.z() * aD2 - theA.w() * aD3;
|
||||
aVec.y() = theA.x() * aD1 - theA.z() * aD4 + theA.w() * aD5;
|
||||
aVec.z() = -theA.x() * aD2 + theA.y() * aD4 - theA.w() * aD6;
|
||||
aVec.w() = theA.x() * aD3 - theA.y() * aD5 + theA.z() * aD6;
|
||||
return aVec;
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
Element_t myMat[16];
|
||||
|
||||
private:
|
||||
|
||||
static Element_t myIdentityArray[16];
|
||||
static const Element_t MyZeroArray[16];
|
||||
static const Element_t MyIdentityArray[16];
|
||||
|
||||
// All instantiations are friend to each other
|
||||
template<class OtherType> friend class NCollection_Mat4;
|
||||
@@ -487,7 +681,14 @@ private:
|
||||
};
|
||||
|
||||
template<typename Element_t>
|
||||
Element_t NCollection_Mat4<Element_t>::myIdentityArray[] =
|
||||
const Element_t NCollection_Mat4<Element_t>::MyZeroArray[] =
|
||||
{0, 0, 0, 0,
|
||||
0, 0, 0, 0,
|
||||
0, 0, 0, 0,
|
||||
0, 0, 0, 0};
|
||||
|
||||
template<typename Element_t>
|
||||
const Element_t NCollection_Mat4<Element_t>::MyIdentityArray[] =
|
||||
{1, 0, 0, 0,
|
||||
0, 1, 0, 0,
|
||||
0, 0, 1, 0,
|
||||
@@ -498,6 +699,7 @@ Element_t NCollection_Mat4<Element_t>::myIdentityArray[] =
|
||||
|
||||
static_assert(std::is_trivially_copyable<NCollection_Mat4<float>>::value, "NCollection_Mat4 is not is_trivially_copyable() structure!");
|
||||
static_assert(std::is_standard_layout <NCollection_Mat4<float>>::value, "NCollection_Mat4 is not is_standard_layout() structure!");
|
||||
static_assert(sizeof(NCollection_Mat4<float>) == sizeof(float)*16, "NCollection_Mat4 is not packed/aligned!");
|
||||
#endif
|
||||
|
||||
#endif // _NCollection_Mat4_HeaderFile
|
||||
|
||||
@@ -102,11 +102,9 @@ public:
|
||||
}
|
||||
|
||||
//! Check this vector with another vector for equality (without tolerance!).
|
||||
bool operator== (const NCollection_Vec2& theOther) { return IsEqual (theOther); }
|
||||
bool operator== (const NCollection_Vec2& theOther) const { return IsEqual (theOther); }
|
||||
|
||||
//! Check this vector with another vector for non-equality (without tolerance!).
|
||||
bool operator!= (const NCollection_Vec2& theOther) { return !IsEqual (theOther); }
|
||||
bool operator!= (const NCollection_Vec2& theOther) const { return !IsEqual (theOther); }
|
||||
|
||||
//! Raw access to the data (for OpenGL exchange).
|
||||
|
||||
@@ -157,11 +157,9 @@ public:
|
||||
}
|
||||
|
||||
//! Check this vector with another vector for equality (without tolerance!).
|
||||
bool operator== (const NCollection_Vec3& theOther) { return IsEqual (theOther); }
|
||||
bool operator== (const NCollection_Vec3& theOther) const { return IsEqual (theOther); }
|
||||
|
||||
//! Check this vector with another vector for non-equality (without tolerance!).
|
||||
bool operator!= (const NCollection_Vec3& theOther) { return !IsEqual (theOther); }
|
||||
bool operator!= (const NCollection_Vec3& theOther) const { return !IsEqual (theOther); }
|
||||
|
||||
//! Raw access to the data (for OpenGL exchange).
|
||||
|
||||
@@ -183,11 +183,9 @@ public:
|
||||
}
|
||||
|
||||
//! Check this vector with another vector for equality (without tolerance!).
|
||||
bool operator== (const NCollection_Vec4& theOther) { return IsEqual (theOther); }
|
||||
bool operator== (const NCollection_Vec4& theOther) const { return IsEqual (theOther); }
|
||||
|
||||
//! Check this vector with another vector for non-equality (without tolerance!).
|
||||
bool operator!= (const NCollection_Vec4& theOther) { return !IsEqual (theOther); }
|
||||
bool operator!= (const NCollection_Vec4& theOther) const { return !IsEqual (theOther); }
|
||||
|
||||
//! Raw access to the data (for OpenGL exchange).
|
||||
|
||||
Reference in New Issue
Block a user