OpenCascade/occt
1
0
Fork 0
mirror of https://git.dev.opencascade.org/repos/occt.git synced 2025-08-19 13:40:49 +03:00
Code Activity

0032289: Visualization - add NCollection_Mat3 for 3x3 matrix similar to NCollection_Mat4

Browse Source 
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OpenGl_ShaderProgram - duplicated methods have been replaced by templates.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
2021-04-09 12:16:55 +03:00
committed by bugmaster
parent c6aa2a8317
commit a2af24d1a9
21 changed files with 878 additions and 486 deletions
Download Patch File Download Diff File Expand all files Collapse all files

294
src/NCollection/NCollection_Mat4.hxx
View File

@@ -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