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https://git.dev.opencascade.org/repos/occt.git
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4e993e4d0d
Added transform persistence property to Graphic3d_Group and Select3D_SensitiveEntity. SelectMgr_ViewerSelector, Graphic3d_Layer and OpenGl_Structure have been updated to process per-group transform persistence within picking, ZFit and rendering. Added zoomable state to Prs3d_ArrowAspect supported by PrsDim_Dimension. Added gp_GTrsf::SetMat4(), opposite to gp_GTrsf::GetMat4().
717 lines
23 KiB
C++
Executable File
717 lines
23 KiB
C++
Executable File
// Created on: 2013-05-30
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// Created by: Anton POLETAEV
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// Copyright (c) 2013-2014 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_Mat4_HeaderFile
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#define _NCollection_Mat4_HeaderFile
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#include <NCollection_Vec4.hxx>
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#include <NCollection_Mat3.hxx>
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//! Generic matrix of 4 x 4 elements.
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//! To be used in conjunction with NCollection_Vec4 entities.
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//! Originally introduced for 3D space projection and orientation operations.
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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_Mat4
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{
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public:
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//! Get number of rows.
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//! @return number of rows.
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static size_t Rows()
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{
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return 4;
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}
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//! Get number of columns.
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//! @retur number of columns.
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static size_t Cols()
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{
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return 4;
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}
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//! Return identity matrix.
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static NCollection_Mat4 Identity()
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{
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return NCollection_Mat4();
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}
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//! Return zero matrix.
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static NCollection_Mat4 Zero()
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{
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NCollection_Mat4 aMat; aMat.InitZero();
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return aMat;
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}
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public:
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//! Empty constructor.
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//! Construct the identity matrix.
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NCollection_Mat4()
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{
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InitIdentity();
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}
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//! Conversion constructor (explicitly converts some 4 x 4 matrix with other element type
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//! to a new 4 x 4 matrix with the element type Element_t,
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//! whose elements are static_cast'ed corresponding elements of theOtherMat4 matrix)
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//! @tparam OtherElement_t the element type of the other 4 x 4 matrix theOtherVec4
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//! @param theOtherMat4 the 4 x 4 matrix that needs to be converted
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template <typename OtherElement_t>
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explicit NCollection_Mat4 (const NCollection_Mat4<OtherElement_t>& theOtherMat4)
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{
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ConvertFrom (theOtherMat4);
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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 * 4 + 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 * 4 + 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.
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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 * 4 + 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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//! Get vector of elements for the specified row.
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//! @param theRow [in] the row to access.
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//! @return vector of elements.
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NCollection_Vec4<Element_t> GetRow (const size_t theRow) const
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{
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return NCollection_Vec4<Element_t> (GetValue (theRow, 0),
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GetValue (theRow, 1),
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GetValue (theRow, 2),
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GetValue (theRow, 3));
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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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//! Set row values by the passed 4 element 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_Vec4<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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SetValue (theRow, 3, theVec.w());
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}
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//! Get vector of elements for the specified column.
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//! @param theCol [in] the column to access.
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//! @return vector of elements.
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NCollection_Vec4<Element_t> GetColumn (const size_t theCol) const
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{
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return NCollection_Vec4<Element_t> (GetValue (0, theCol),
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GetValue (1, theCol),
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GetValue (2, theCol),
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GetValue (3, 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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//! Set column values by the passed 4 element 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_Vec4<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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SetValue (3, theCol, theVec.w());
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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_Vec4<Element_t> GetDiagonal() const
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{
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return NCollection_Vec4<Element_t> (GetValue (0, 0),
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GetValue (1, 1),
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GetValue (2, 2),
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GetValue (3, 3));
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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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//! Set diagonal elements of the matrix by the passed vector.
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//! @param theVec [in] the vector of values.
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void SetDiagonal (const NCollection_Vec4<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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SetValue (3, 3, theVec.w());
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}
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//! Return 3x3 sub-matrix.
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NCollection_Mat3<Element_t> GetMat3() const
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{
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NCollection_Mat3<Element_t> aMat;
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aMat.SetColumn (0, GetColumn (0).xyz());
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aMat.SetColumn (1, GetColumn (1).xyz());
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aMat.SetColumn (2, GetColumn (2).xyz());
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return aMat;
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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_Mat4));
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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_Mat4)) == 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_Mat4));
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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_Mat4)) == 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_Mat4& theOther) const
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{
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return std::memcmp (this, &theOther, sizeof(NCollection_Mat4)) == 0;
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}
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//! Check this matrix for equality with another matrix (without tolerance!).
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bool operator== (const NCollection_Mat4& theOther) const { return IsEqual (theOther); }
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//! Check this matrix for non-equality with another matrix (without tolerance!).
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bool operator!= (const NCollection_Mat4& 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_Vec4<Element_t> operator* (const NCollection_Vec4<Element_t>& theVec) const
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{
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return NCollection_Vec4<Element_t> (
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GetValue (0, 0) * theVec.x() + GetValue (0, 1) * theVec.y() + GetValue (0, 2) * theVec.z() + GetValue (0, 3) * theVec.w(),
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GetValue (1, 0) * theVec.x() + GetValue (1, 1) * theVec.y() + GetValue (1, 2) * theVec.z() + GetValue (1, 3) * theVec.w(),
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GetValue (2, 0) * theVec.x() + GetValue (2, 1) * theVec.y() + GetValue (2, 2) * theVec.z() + GetValue (2, 3) * theVec.w(),
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GetValue (3, 0) * theVec.x() + GetValue (3, 1) * theVec.y() + GetValue (3, 2) * theVec.z() + GetValue (3, 3) * theVec.w());
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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_Mat4 Multiply (const NCollection_Mat4& theMatA,
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const NCollection_Mat4& theMatB)
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{
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NCollection_Mat4 aMatRes;
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size_t aInputElem;
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for (size_t aResElem = 0; aResElem < 16; ++aResElem)
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{
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aMatRes.myMat[aResElem] = (Element_t )0;
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for (aInputElem = 0; aInputElem < 4; ++aInputElem)
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{
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aMatRes.myMat[aResElem] += theMatA.GetValue(aResElem % 4, aInputElem)
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* theMatB.GetValue(aInputElem, aResElem / 4);
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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_Mat4& 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_Mat4& operator*= (const NCollection_Mat4& 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_Mat4 operator* (const NCollection_Mat4& 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_Mat4 Multiplied (const NCollection_Mat4& theMat) const
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{
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NCollection_Mat4 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 < 16; ++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_Mat4& 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_Mat4 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_Mat4 Multiplied (const Element_t theFactor) const
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{
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NCollection_Mat4 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 < 16; ++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_Mat4& 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_Mat4 Divided (const Element_t theScalar) const
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{
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NCollection_Mat4 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_Mat4 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_Mat4& theMat)
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{
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for (size_t i = 0; i < 16; ++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_Mat4& operator+= (const NCollection_Mat4& 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_Mat4& theMat)
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{
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for (size_t i = 0; i < 16; ++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_Mat4& operator-= (const NCollection_Mat4& 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_Mat4 Added (const NCollection_Mat4& theMat) const
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{
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NCollection_Mat4 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_Mat4 operator+ (const NCollection_Mat4& theMat) const { return Added (theMat); }
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//! Per-component subtraction of another matrix.
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Standard_NODISCARD NCollection_Mat4 Subtracted (const NCollection_Mat4& theMat) const
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{
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NCollection_Mat4 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_Mat4 operator- (const NCollection_Mat4& theMat) const { return Subtracted (theMat); }
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//! Returns matrix with all components negated.
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Standard_NODISCARD NCollection_Mat4 Negated() const
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{
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NCollection_Mat4 aMat;
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for (size_t i = 0; i < 16; ++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_Mat4 operator-() const { return Negated(); }
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//! Translate the matrix on the passed vector.
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//! @param theVec [in] the translation vector.
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void Translate (const NCollection_Vec3<Element_t>& theVec)
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{
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NCollection_Mat4 aTempMat;
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aTempMat.SetColumn (3, theVec);
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this->Multiply (aTempMat);
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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_Mat4 Transposed() const
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{
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NCollection_Mat4 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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aTempMat.SetRow (3, GetColumn (3));
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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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//! 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_Mat4<Element_t>& theOutMx, Element_t& theDet) const
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{
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Element_t* inv = theOutMx.myMat;
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// use short-cut for better readability
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const Element_t* m = myMat;
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inv[ 0] = m[ 5] * (m[10] * m[15] - m[11] * m[14]) -
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m[ 9] * (m[ 6] * m[15] - m[ 7] * m[14]) -
|
|
m[13] * (m[ 7] * m[10] - m[ 6] * m[11]);
|
|
|
|
inv[ 1] = m[ 1] * (m[11] * m[14] - m[10] * m[15]) -
|
|
m[ 9] * (m[ 3] * m[14] - m[ 2] * m[15]) -
|
|
m[13] * (m[ 2] * m[11] - m[ 3] * m[10]);
|
|
|
|
inv[ 2] = m[ 1] * (m[ 6] * m[15] - m[ 7] * m[14]) -
|
|
m[ 5] * (m[ 2] * m[15] - m[ 3] * m[14]) -
|
|
m[13] * (m[ 3] * m[ 6] - m[ 2] * m[ 7]);
|
|
|
|
inv[ 3] = m[ 1] * (m[ 7] * m[10] - m[ 6] * m[11]) -
|
|
m[ 5] * (m[ 3] * m[10] - m[ 2] * m[11]) -
|
|
m[ 9] * (m[ 2] * m[ 7] - m[ 3] * m[ 6]);
|
|
|
|
inv[ 4] = m[ 4] * (m[11] * m[14] - m[10] * m[15]) -
|
|
m[ 8] * (m[ 7] * m[14] - m[ 6] * m[15]) -
|
|
m[12] * (m[ 6] * m[11] - m[ 7] * m[10]);
|
|
|
|
inv[ 5] = m[ 0] * (m[10] * m[15] - m[11] * m[14]) -
|
|
m[ 8] * (m[ 2] * m[15] - m[ 3] * m[14]) -
|
|
m[12] * (m[ 3] * m[10] - m[ 2] * m[11]);
|
|
|
|
inv[ 6] = m[ 0] * (m[ 7] * m[14] - m[ 6] * m[15]) -
|
|
m[ 4] * (m[ 3] * m[14] - m[ 2] * m[15]) -
|
|
m[12] * (m[ 2] * m[ 7] - m[ 3] * m[ 6]);
|
|
|
|
inv[ 7] = m[ 0] * (m[ 6] * m[11] - m[ 7] * m[10]) -
|
|
m[ 4] * (m[ 2] * m[11] - m[ 3] * m[10]) -
|
|
m[ 8] * (m[ 3] * m[ 6] - m[ 2] * m[ 7]);
|
|
|
|
inv[ 8] = m[ 4] * (m[ 9] * m[15] - m[11] * m[13]) -
|
|
m[ 8] * (m[ 5] * m[15] - m[ 7] * m[13]) -
|
|
m[12] * (m[ 7] * m[ 9] - m[ 5] * m[11]);
|
|
|
|
inv[ 9] = m[ 0] * (m[11] * m[13] - m[ 9] * m[15]) -
|
|
m[ 8] * (m[ 3] * m[13] - m[ 1] * m[15]) -
|
|
m[12] * (m[ 1] * m[11] - m[ 3] * m[ 9]);
|
|
|
|
inv[10] = m[ 0] * (m[ 5] * m[15] - m[ 7] * m[13]) -
|
|
m[ 4] * (m[ 1] * m[15] - m[ 3] * m[13]) -
|
|
m[12] * (m[ 3] * m[ 5] - m[ 1] * m[ 7]);
|
|
|
|
inv[11] = m[ 0] * (m[ 7] * m[ 9] - m[ 5] * m[11]) -
|
|
m[ 4] * (m[ 3] * m[ 9] - m[ 1] * m[11]) -
|
|
m[ 8] * (m[ 1] * m[ 7] - m[ 3] * m[ 5]);
|
|
|
|
inv[12] = m[ 4] * (m[10] * m[13] - m[ 9] * m[14]) -
|
|
m[ 8] * (m[ 6] * m[13] - m[ 5] * m[14]) -
|
|
m[12] * (m[ 5] * m[10] - m[ 6] * m[ 9]);
|
|
|
|
inv[13] = m[ 0] * (m[ 9] * m[14] - m[10] * m[13]) -
|
|
m[ 8] * (m[ 1] * m[14] - m[ 2] * m[13]) -
|
|
m[12] * (m[ 2] * m[ 9] - m[ 1] * m[10]);
|
|
|
|
inv[14] = m[ 0] * (m[ 6] * m[13] - m[ 5] * m[14]) -
|
|
m[ 4] * (m[ 2] * m[13] - m[ 1] * m[14]) -
|
|
m[12] * (m[ 1] * m[ 6] - m[ 2] * m[ 5]);
|
|
|
|
inv[15] = m[ 0] * (m[ 5] * m[10] - m[ 6] * m[ 9]) -
|
|
m[ 4] * (m[ 1] * m[10] - m[ 2] * m[ 9]) -
|
|
m[ 8] * (m[ 2] * m[ 5] - m[ 1] * m[ 6]);
|
|
|
|
theDet = m[0] * inv[ 0] +
|
|
m[1] * inv[ 4] +
|
|
m[2] * inv[ 8] +
|
|
m[3] * inv[12];
|
|
if (theDet == 0)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
const Element_t aDiv = (Element_t) 1. / theDet;
|
|
for (int i = 0; i < 16; ++i)
|
|
{
|
|
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 determinant of the 3x3 sub-matrix.
|
|
Element_t DeterminantMat3() const
|
|
{
|
|
return (GetValue (0, 0) * GetValue (1, 1) * GetValue (2, 2)
|
|
+ GetValue (0, 1) * GetValue (1, 2) * GetValue (2, 0)
|
|
+ GetValue (0, 2) * GetValue (1, 0) * GetValue (2, 1))
|
|
- (GetValue (0, 2) * GetValue (1, 1) * GetValue (2, 0)
|
|
+ GetValue (0, 0) * GetValue (1, 2) * GetValue (2, 1)
|
|
+ GetValue (0, 1) * GetValue (1, 0) * GetValue (2, 2));
|
|
}
|
|
|
|
//! 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)
|
|
{
|
|
for (int anIdx = 0; anIdx < 16; ++anIdx)
|
|
{
|
|
myMat[anIdx] = static_cast<Element_t> (theFrom.myMat[anIdx]);
|
|
}
|
|
}
|
|
|
|
//! Take values from NCollection_Mat4 with a different element type with type conversion.
|
|
template <typename Other_t>
|
|
void Convert (const NCollection_Mat4<Other_t>& theFrom) { ConvertFrom (theFrom); }
|
|
|
|
//! Maps plain C array to matrix type.
|
|
static NCollection_Mat4<Element_t>& Map (Element_t* theData)
|
|
{
|
|
return *reinterpret_cast<NCollection_Mat4<Element_t>*> (theData);
|
|
}
|
|
|
|
//! Maps plain C array to matrix type.
|
|
static const NCollection_Mat4<Element_t>& Map (const Element_t* theData)
|
|
{
|
|
return *reinterpret_cast<const NCollection_Mat4<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_Mat4", 16,
|
|
GetValue (0, 0), GetValue (0, 1), GetValue (0, 2), GetValue (0, 3),
|
|
GetValue (1, 0), GetValue (1, 1), GetValue (1, 2), GetValue (1, 3),
|
|
GetValue (2, 0), GetValue (2, 1), GetValue (2, 2), GetValue (2, 3),
|
|
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 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;
|
|
|
|
};
|
|
|
|
template<typename Element_t>
|
|
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,
|
|
0, 0, 0, 1};
|
|
|
|
#if defined(_MSC_VER) && (_MSC_VER >= 1900)
|
|
#include <type_traits>
|
|
|
|
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
|