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authorsanine <sanine.not@pm.me>2022-03-04 10:47:15 -0600
committersanine <sanine.not@pm.me>2022-03-04 10:47:15 -0600
commit058f98a63658dc1a2579826ba167fd61bed1e21f (patch)
treebcba07a1615a14d943f3af3f815a42f3be86b2f3 /src/mesh/assimp-master/include/assimp/matrix3x3.inl
parent2f8028ac9e0812cb6f3cbb08f0f419e4e717bd22 (diff)
add assimp submodule
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+/*
+---------------------------------------------------------------------------
+Open Asset Import Library (assimp)
+---------------------------------------------------------------------------
+
+Copyright (c) 2006-2022, assimp team
+
+All rights reserved.
+
+Redistribution and use of this software in source and binary forms,
+with or without modification, are permitted provided that the following
+conditions are met:
+
+* Redistributions of source code must retain the above
+ copyright notice, this list of conditions and the
+ following disclaimer.
+
+* Redistributions in binary form must reproduce the above
+ copyright notice, this list of conditions and the
+ following disclaimer in the documentation and/or other
+ materials provided with the distribution.
+
+* Neither the name of the assimp team, nor the names of its
+ contributors may be used to endorse or promote products
+ derived from this software without specific prior
+ written permission of the assimp team.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+---------------------------------------------------------------------------
+*/
+
+/** @file matrix3x3.inl
+ * @brief Inline implementation of the 3x3 matrix operators
+ */
+#pragma once
+#ifndef AI_MATRIX3X3_INL_INC
+#define AI_MATRIX3X3_INL_INC
+
+#ifdef __GNUC__
+# pragma GCC system_header
+#endif
+
+#ifdef __cplusplus
+#include <assimp/matrix3x3.h>
+#include <assimp/matrix4x4.h>
+
+#include <algorithm>
+#include <cmath>
+#include <limits>
+
+// ------------------------------------------------------------------------------------------------
+// Construction from a 4x4 matrix. The remaining parts of the matrix are ignored.
+template <typename TReal>
+AI_FORCE_INLINE
+aiMatrix3x3t<TReal>::aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix) {
+ a1 = pMatrix.a1; a2 = pMatrix.a2; a3 = pMatrix.a3;
+ b1 = pMatrix.b1; b2 = pMatrix.b2; b3 = pMatrix.b3;
+ c1 = pMatrix.c1; c2 = pMatrix.c2; c3 = pMatrix.c3;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::operator *= (const aiMatrix3x3t<TReal>& m) {
+ *this = aiMatrix3x3t<TReal>(m.a1 * a1 + m.b1 * a2 + m.c1 * a3,
+ m.a2 * a1 + m.b2 * a2 + m.c2 * a3,
+ m.a3 * a1 + m.b3 * a2 + m.c3 * a3,
+ m.a1 * b1 + m.b1 * b2 + m.c1 * b3,
+ m.a2 * b1 + m.b2 * b2 + m.c2 * b3,
+ m.a3 * b1 + m.b3 * b2 + m.c3 * b3,
+ m.a1 * c1 + m.b1 * c2 + m.c1 * c3,
+ m.a2 * c1 + m.b2 * c2 + m.c2 * c3,
+ m.a3 * c1 + m.b3 * c2 + m.c3 * c3);
+ return *this;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+template <typename TOther>
+aiMatrix3x3t<TReal>::operator aiMatrix3x3t<TOther> () const {
+ return aiMatrix3x3t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3),
+ static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3),
+ static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3));
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+aiMatrix3x3t<TReal> aiMatrix3x3t<TReal>::operator* (const aiMatrix3x3t<TReal>& m) const {
+ aiMatrix3x3t<TReal> temp( *this);
+ temp *= m;
+ return temp;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) {
+ switch ( p_iIndex ) {
+ case 0:
+ return &a1;
+ case 1:
+ return &b1;
+ case 2:
+ return &c1;
+ default:
+ break;
+ }
+ return &a1;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+const TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) const {
+ switch ( p_iIndex ) {
+ case 0:
+ return &a1;
+ case 1:
+ return &b1;
+ case 2:
+ return &c1;
+ default:
+ break;
+ }
+ return &a1;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+bool aiMatrix3x3t<TReal>::operator== (const aiMatrix3x3t<TReal>& m) const {
+ return a1 == m.a1 && a2 == m.a2 && a3 == m.a3 &&
+ b1 == m.b1 && b2 == m.b2 && b3 == m.b3 &&
+ c1 == m.c1 && c2 == m.c2 && c3 == m.c3;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+bool aiMatrix3x3t<TReal>::operator!= (const aiMatrix3x3t<TReal>& m) const {
+ return !(*this == m);
+}
+
+// ---------------------------------------------------------------------------
+template<typename TReal>
+AI_FORCE_INLINE
+bool aiMatrix3x3t<TReal>::Equal(const aiMatrix3x3t<TReal>& m, TReal epsilon) const {
+ return
+ std::abs(a1 - m.a1) <= epsilon &&
+ std::abs(a2 - m.a2) <= epsilon &&
+ std::abs(a3 - m.a3) <= epsilon &&
+ std::abs(b1 - m.b1) <= epsilon &&
+ std::abs(b2 - m.b2) <= epsilon &&
+ std::abs(b3 - m.b3) <= epsilon &&
+ std::abs(c1 - m.c1) <= epsilon &&
+ std::abs(c2 - m.c2) <= epsilon &&
+ std::abs(c3 - m.c3) <= epsilon;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Transpose() {
+ // (TReal&) don't remove, GCC complains cause of packed fields
+ std::swap( (TReal&)a2, (TReal&)b1);
+ std::swap( (TReal&)a3, (TReal&)c1);
+ std::swap( (TReal&)b3, (TReal&)c2);
+ return *this;
+}
+
+// ----------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+TReal aiMatrix3x3t<TReal>::Determinant() const {
+ return a1*b2*c3 - a1*b3*c2 + a2*b3*c1 - a2*b1*c3 + a3*b1*c2 - a3*b2*c1;
+}
+
+// ----------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Inverse() {
+ // Compute the reciprocal determinant
+ TReal det = Determinant();
+ if(det == static_cast<TReal>(0.0))
+ {
+ // Matrix not invertible. Setting all elements to nan is not really
+ // correct in a mathematical sense; but at least qnans are easy to
+ // spot. XXX we might throw an exception instead, which would
+ // be even much better to spot :/.
+ const TReal nan = std::numeric_limits<TReal>::quiet_NaN();
+ *this = aiMatrix3x3t<TReal>( nan,nan,nan,nan,nan,nan,nan,nan,nan);
+
+ return *this;
+ }
+
+ TReal invdet = static_cast<TReal>(1.0) / det;
+
+ aiMatrix3x3t<TReal> res;
+ res.a1 = invdet * (b2 * c3 - b3 * c2);
+ res.a2 = -invdet * (a2 * c3 - a3 * c2);
+ res.a3 = invdet * (a2 * b3 - a3 * b2);
+ res.b1 = -invdet * (b1 * c3 - b3 * c1);
+ res.b2 = invdet * (a1 * c3 - a3 * c1);
+ res.b3 = -invdet * (a1 * b3 - a3 * b1);
+ res.c1 = invdet * (b1 * c2 - b2 * c1);
+ res.c2 = -invdet * (a1 * c2 - a2 * c1);
+ res.c3 = invdet * (a1 * b2 - a2 * b1);
+ *this = res;
+
+ return *this;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::RotationZ(TReal a, aiMatrix3x3t<TReal>& out) {
+ out.a1 = out.b2 = std::cos(a);
+ out.b1 = std::sin(a);
+ out.a2 = - out.b1;
+
+ out.a3 = out.b3 = out.c1 = out.c2 = 0.f;
+ out.c3 = 1.f;
+
+ return out;
+}
+
+// ------------------------------------------------------------------------------------------------
+// Returns a rotation matrix for a rotation around an arbitrary axis.
+template <typename TReal>
+AI_FORCE_INLINE
+aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix3x3t<TReal>& out) {
+ TReal c = std::cos( a), s = std::sin( a), t = 1 - c;
+ TReal x = axis.x, y = axis.y, z = axis.z;
+
+ // Many thanks to MathWorld and Wikipedia
+ out.a1 = t*x*x + c; out.a2 = t*x*y - s*z; out.a3 = t*x*z + s*y;
+ out.b1 = t*x*y + s*z; out.b2 = t*y*y + c; out.b3 = t*y*z - s*x;
+ out.c1 = t*x*z - s*y; out.c2 = t*y*z + s*x; out.c3 = t*z*z + c;
+
+ return out;
+}
+
+// ------------------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE
+aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Translation( const aiVector2t<TReal>& v, aiMatrix3x3t<TReal>& out) {
+ out = aiMatrix3x3t<TReal>();
+ out.a3 = v.x;
+ out.b3 = v.y;
+ return out;
+}
+
+// ----------------------------------------------------------------------------------------
+/** A function for creating a rotation matrix that rotates a vector called
+ * "from" into another vector called "to".
+ * Input : from[3], to[3] which both must be *normalized* non-zero vectors
+ * Output: mtx[3][3] -- a 3x3 matrix in colum-major form
+ * Authors: Tomas Möller, John Hughes
+ * "Efficiently Building a Matrix to Rotate One Vector to Another"
+ * Journal of Graphics Tools, 4(4):1-4, 1999
+ */
+// ----------------------------------------------------------------------------------------
+template <typename TReal>
+AI_FORCE_INLINE aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::FromToMatrix(const aiVector3t<TReal>& from,
+ const aiVector3t<TReal>& to, aiMatrix3x3t<TReal>& mtx) {
+ const TReal e = from * to;
+ const TReal f = (e < 0)? -e:e;
+
+ if (f > static_cast<TReal>(1.0) - static_cast<TReal>(0.00001)) /* "from" and "to"-vector almost parallel */
+ {
+ aiVector3D u,v; /* temporary storage vectors */
+ aiVector3D x; /* vector most nearly orthogonal to "from" */
+
+ x.x = (from.x > 0.0)? from.x : -from.x;
+ x.y = (from.y > 0.0)? from.y : -from.y;
+ x.z = (from.z > 0.0)? from.z : -from.z;
+
+ if (x.x < x.y)
+ {
+ if (x.x < x.z)
+ {
+ x.x = static_cast<TReal>(1.0);
+ x.y = x.z = static_cast<TReal>(0.0);
+ }
+ else
+ {
+ x.z = static_cast<TReal>(1.0);
+ x.x = x.y = static_cast<TReal>(0.0);
+ }
+ }
+ else
+ {
+ if (x.y < x.z)
+ {
+ x.y = static_cast<TReal>(1.0);
+ x.x = x.z = static_cast<TReal>(0.0);
+ }
+ else
+ {
+ x.z = static_cast<TReal>(1.0);
+ x.x = x.y = static_cast<TReal>(0.0);
+ }
+ }
+
+ u.x = x.x - from.x; u.y = x.y - from.y; u.z = x.z - from.z;
+ v.x = x.x - to.x; v.y = x.y - to.y; v.z = x.z - to.z;
+
+ const TReal c1_ = static_cast<TReal>(2.0) / (u * u);
+ const TReal c2_ = static_cast<TReal>(2.0) / (v * v);
+ const TReal c3_ = c1_ * c2_ * (u * v);
+
+ for (unsigned int i = 0; i < 3; i++)
+ {
+ for (unsigned int j = 0; j < 3; j++)
+ {
+ mtx[i][j] = - c1_ * u[i] * u[j] - c2_ * v[i] * v[j]
+ + c3_ * v[i] * u[j];
+ }
+ mtx[i][i] += static_cast<TReal>(1.0);
+ }
+ }
+ else /* the most common case, unless "from"="to", or "from"=-"to" */
+ {
+ const aiVector3D v = from ^ to;
+ /* ... use this hand optimized version (9 mults less) */
+ const TReal h = static_cast<TReal>(1.0)/(static_cast<TReal>(1.0) + e); /* optimization by Gottfried Chen */
+ const TReal hvx = h * v.x;
+ const TReal hvz = h * v.z;
+ const TReal hvxy = hvx * v.y;
+ const TReal hvxz = hvx * v.z;
+ const TReal hvyz = hvz * v.y;
+ mtx[0][0] = e + hvx * v.x;
+ mtx[0][1] = hvxy - v.z;
+ mtx[0][2] = hvxz + v.y;
+
+ mtx[1][0] = hvxy + v.z;
+ mtx[1][1] = e + h * v.y * v.y;
+ mtx[1][2] = hvyz - v.x;
+
+ mtx[2][0] = hvxz - v.y;
+ mtx[2][1] = hvyz + v.x;
+ mtx[2][2] = e + hvz * v.z;
+ }
+ return mtx;
+}
+
+#endif // __cplusplus
+#endif // AI_MATRIX3X3_INL_INC