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occt/src/NCollection/NCollection_Mat4.hxx
duv c827ea3a68 0024381: Visualization, TKOpenGl - revise matrices stack and usage of temporary matrices 
0025301: Visualization, TKOpenGl - transpose matrix manually before glUniformMatrix4fv()

OpenGl_View::ReleaseGlResources() - release GL resources of trihedron, do not destroy it
2014-11-05 17:54:48 +03:00

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// Created on: 2013-05-30
// Created by: Anton POLETAEV
// Copyright (c) 2013-2014 OPEN CASCADE SAS
//
// This file is part of Open CASCADE Technology software library.
//
// This library is free software; you can redistribute it and/or modify it under
// the terms of the GNU Lesser General Public License version 2.1 as published
// by the Free Software Foundation, with special exception defined in the file
// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
// distribution for complete text of the license and disclaimer of any warranty.
//
// Alternatively, this file may be used under the terms of Open CASCADE
// commercial license or contractual agreement.
#ifndef _NCollection_Mat4_HeaderFile
#define _NCollection_Mat4_HeaderFile
#include <NCollection_Vec4.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.
template<typename Element_t>
class NCollection_Mat4
{
public:
//! Get number of rows.
//! @return number of rows.
static size_t Rows()
{
return 4;
}
//! Get number of columns.
//! @retur number of columns.
static size_t Cols()
{
return 4;
}
//! Empty constructor.
//! Construct the zero matrix.
NCollection_Mat4()
{
InitIdentity();
}
//! Copy constructor.
//! @param theOther [in] the matrix to copy values from.
NCollection_Mat4 (const NCollection_Mat4& theOther)
{
std::memcpy (this, &theOther, sizeof (NCollection_Mat4));
}
//! Assignment operator.
//! @param theOther [in] the matrix to copy values from.
const NCollection_Mat4& operator= (const NCollection_Mat4& theOther)
{
std::memcpy (this, &theOther, sizeof (NCollection_Mat4));
return *this;
}
//! Get element at the specified row and column.
//! @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
{
return myMat[theCol * 4 + theRow];
}
//! Access element at the specified row and column.
//! @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)
{
return myMat[theCol * 4 + theRow];
}
//! 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
void SetValue (const size_t theRow,
const size_t theCol,
const Element_t theValue)
{
myMat[theCol * 4 + theRow] = theValue;
}
//! Get vector of elements for the specified row.
//! @param theRow [in] the row to access.
//! @return vector of elements.
NCollection_Vec4<Element_t> GetRow (const size_t theRow) const
{
return NCollection_Vec4<Element_t> (GetValue (theRow, 0),
GetValue (theRow, 1),
GetValue (theRow, 2),
GetValue (theRow, 3));
}
//! Change first 3 row values by the passed vector.
//! @param theRow [in] the row to change.
//! @param theVec [in] the vector of values.
void SetRow (const size_t theRow, const NCollection_Vec3<Element_t>& theVec)
{
SetValue (theRow, 0, theVec.x());
SetValue (theRow, 1, theVec.y());
SetValue (theRow, 2, theVec.z());
}
//! Set row values by the passed 4 element vector.
//! @param theRow [in] the row to change.
//! @param theVec [in] the vector of values.
void SetRow (const size_t theRow, const NCollection_Vec4<Element_t>& theVec)
{
SetValue (theRow, 0, theVec.x());
SetValue (theRow, 1, theVec.y());
SetValue (theRow, 2, theVec.z());
SetValue (theRow, 3, theVec.w());
}
//! Get vector of elements for the specified column.
//! @param theCol [in] the column to access.
//! @return vector of elements.
NCollection_Vec4<Element_t> GetColumn (const size_t theCol) const
{
return NCollection_Vec4<Element_t> (GetValue (0, theCol),
GetValue (1, theCol),
GetValue (2, theCol),
GetValue (3, theCol));
}
//! Change first 3 column values by the passed vector.
//! @param theCol [in] the column to change.
//! @param theVec [in] the vector of values.
void SetColumn (const size_t theCol,
const NCollection_Vec3<Element_t>& theVec)
{
SetValue (0, theCol, theVec.x());
SetValue (1, theCol, theVec.y());
SetValue (2, theCol, theVec.z());
}
//! Set column values by the passed 4 element vector.
//! @param theCol [in] the column to change.
//! @param theVec [in] the vector of values.
void SetColumn (const size_t theCol,
const NCollection_Vec4<Element_t>& theVec)
{
SetValue (0, theCol, theVec.x());
SetValue (1, theCol, theVec.y());
SetValue (2, theCol, theVec.z());
SetValue (3, theCol, theVec.w());
}
//! Get vector of diagonal elements.
//! \return vector of diagonal elements.
NCollection_Vec4<Element_t> GetDiagonal() const
{
return NCollection_Vec4<Element_t> (GetValue (0, 0),
GetValue (1, 1),
GetValue (2, 2),
GetValue (3, 3));
}
//! Change first 3 elements of the diagonal matrix.
//! @param theVec the vector of values.
void SetDiagonal (const NCollection_Vec3<Element_t>& theVec)
{
SetValue (0, 0, theVec.x());
SetValue (1, 1, theVec.y());
SetValue (2, 2, theVec.z());
}
//! Set diagonal elements of the matrix by the passed vector.
//! @param theVec [in] the vector of values.
void SetDiagonal (const NCollection_Vec4<Element_t>& theVec)
{
SetValue (0, 0, theVec.x());
SetValue (1, 1, theVec.y());
SetValue (2, 2, theVec.z());
SetValue (3, 3, theVec.w());
}
//! Initialize the identity matrix.
void InitIdentity()
{
std::memcpy (this, myIdentityArray, sizeof (NCollection_Mat4));
}
//! Checks the matrix for identity.
bool IsIdentity() const
{
return std::memcmp (this, myIdentityArray, sizeof (NCollection_Mat4)) == 0;
}
//! Raw access to the data (for OpenGL exchange).
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.
NCollection_Vec4<Element_t> operator* (const NCollection_Vec4<Element_t>& theVec) const
{
return NCollection_Vec4<Element_t> (
GetValue (0, 0) * theVec.x() + GetValue (0, 1) * theVec.y() + GetValue (0, 2) * theVec.z() + GetValue (0, 3) * theVec.w(),
GetValue (1, 0) * theVec.x() + GetValue (1, 1) * theVec.y() + GetValue (1, 2) * theVec.z() + GetValue (1, 3) * theVec.w(),
GetValue (2, 0) * theVec.x() + GetValue (2, 1) * theVec.y() + GetValue (2, 2) * theVec.z() + GetValue (2, 3) * theVec.w(),
GetValue (3, 0) * theVec.x() + GetValue (3, 1) * theVec.y() + GetValue (3, 2) * theVec.z() + GetValue (3, 3) * theVec.w());
}
//! 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)
{
NCollection_Mat4 aMatRes;
size_t aInputElem;
for (size_t aResElem = 0; aResElem < 16; ++aResElem)
{
aMatRes[aResElem] = (Element_t )0;
for (aInputElem = 0; aInputElem < 4; ++aInputElem)
{
aMatRes[aResElem] += theMatA.GetValue(aResElem % 4, aInputElem)
* theMatB.GetValue(aInputElem, aResElem / 4);
}
}
return aMatRes;
}
//! Compute matrix multiplication.
//! @param theMat [in] the matrix to multiply.
void Multiply (const NCollection_Mat4& theMat)
{
*this = Multiply(*this, theMat);
}
//! Multiply by the another matrix.
//! @param theMat [in] the other matrix.
NCollection_Mat4& operator*= (const NCollection_Mat4& theMat)
{
Multiply (theMat);
return *this;
}
//! Compute matrix multiplication product.
//! @param theMat [in] the other matrix.
//! @return result of multiplication.
NCollection_Mat4 operator* (const NCollection_Mat4& theMat) const
{
return Multiplied (theMat);
}
//! Compute matrix multiplication product.
//! @param theMat [in] the other matrix.
//! @return result of multiplication.
NCollection_Mat4 Multiplied (const NCollection_Mat4& theMat) const
{
NCollection_Mat4 aTempMat (*this);
aTempMat *= theMat;
return aTempMat;
}
//! Compute per-component multiplication.
//! @param theFactor [in] the scale factor.
void Multiply (const Element_t theFactor)
{
for (size_t i = 0; i < 16; ++i)
{
myMat[i] *= theFactor;
}
}
//! Compute per-element multiplication.
//! @param theFactor [in] the scale factor.
NCollection_Mat4& operator*=(const Element_t theFactor)
{
Multiply (theFactor);
return *this;
}
//! Compute per-element multiplication.
//! @param theFactor [in] the scale factor.
//! @return the result of multiplicaton.
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
{
NCollection_Mat4 aTempMat (*this);
aTempMat *= theFactor;
return aTempMat;
}
//! Translate the matrix on the passed vector.
//! @param theVec [in] the translation vector.
void Translate (const NCollection_Vec3<Element_t>& theVec)
{
NCollection_Mat4 aTempMat;
aTempMat.SetColumn (3, theVec);
this->Multiply (aTempMat);
}
//! Transpose the matrix.
//! @return transposed copy of the matrix.
NCollection_Mat4 Transposed() const
{
NCollection_Mat4 aTempMat;
aTempMat.SetRow (0, GetColumn (0));
aTempMat.SetRow (1, GetColumn (1));
aTempMat.SetRow (2, GetColumn (2));
aTempMat.SetRow (3, GetColumn (3));
return aTempMat;
}
//! Transpose the matrix.
void Transpose()
{
*this = Transposed();
}
//! Compute inverted matrix.
//! @param theOutMx [out] the inverted matrix.
//! @return true if reversion success.
bool Inverted (NCollection_Mat4<Element_t>& theOutMx) const
{
Element_t* inv = theOutMx.myMat;
// use short-cut for better readability
const Element_t* m = myMat;
inv[ 0] = m[ 5] * (m[10] * m[15] - m[11] * m[14]) -
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]);
Element_t aDet = m[0] * inv[ 0] +
m[1] * inv[ 4] +
m[2] * inv[ 8] +
m[3] * inv[12];
if (aDet == 0)
return false;
aDet = (Element_t) 1. / aDet;
for (int i = 0; i < 16; ++i)
inv[i] *= aDet;
return true;
}
// Converts NCollection_Mat4 with different element type.
template <typename Other_t>
void Convert (const NCollection_Mat4<Other_t>& theOther)
{
for (int anIdx = 0; anIdx < 16; ++anIdx)
{
myMat[anIdx] = static_cast<Element_t> (theOther.myMat[anIdx]);
}
}
//! 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);
}
private:
Element_t myMat[16];
private:
static Element_t myIdentityArray[16];
// All instantiations are friend to each other
template<class OtherType> friend class NCollection_Mat4;
};
template<typename Element_t>
Element_t NCollection_Mat4<Element_t>::myIdentityArray[] =
{1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1};
#endif // _NCollection_Mat4_HeaderFile
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