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Diffstat (limited to 'src/mesh/assimp-master/include/assimp/matrix4x4.inl')
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diff --git a/src/mesh/assimp-master/include/assimp/matrix4x4.inl b/src/mesh/assimp-master/include/assimp/matrix4x4.inl deleted file mode 100644 index 54d176d..0000000 --- a/src/mesh/assimp-master/include/assimp/matrix4x4.inl +++ /dev/null @@ -1,677 +0,0 @@ -/* ---------------------------------------------------------------------------- -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 matrix4x4.inl - * @brief Inline implementation of the 4x4 matrix operators - */ -#pragma once -#ifndef AI_MATRIX4X4_INL_INC -#define AI_MATRIX4X4_INL_INC - -#ifdef __cplusplus - -#include "matrix4x4.h" -#include "matrix3x3.h" -#include "quaternion.h" -#include "MathFunctions.h" - -#include <algorithm> -#include <limits> -#include <cmath> - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -aiMatrix4x4t<TReal>::aiMatrix4x4t() AI_NO_EXCEPT : - a1(1.0f), a2(), a3(), a4(), - b1(), b2(1.0f), b3(), b4(), - c1(), c2(), c3(1.0f), c4(), - d1(), d2(), d3(), d4(1.0f) { - // empty -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -aiMatrix4x4t<TReal>::aiMatrix4x4t (TReal _a1, TReal _a2, TReal _a3, TReal _a4, - TReal _b1, TReal _b2, TReal _b3, TReal _b4, - TReal _c1, TReal _c2, TReal _c3, TReal _c4, - TReal _d1, TReal _d2, TReal _d3, TReal _d4) : - a1(_a1), a2(_a2), a3(_a3), a4(_a4), - b1(_b1), b2(_b2), b3(_b3), b4(_b4), - c1(_c1), c2(_c2), c3(_c3), c4(_c4), - d1(_d1), d2(_d2), d3(_d3), d4(_d4) { - // empty -} - -// ------------------------------------------------------------------------------------------------ -template <typename TReal> -template <typename TOther> -aiMatrix4x4t<TReal>::operator aiMatrix4x4t<TOther> () const { - return aiMatrix4x4t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3),static_cast<TOther>(a4), - static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3),static_cast<TOther>(b4), - static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3),static_cast<TOther>(c4), - static_cast<TOther>(d1),static_cast<TOther>(d2),static_cast<TOther>(d3),static_cast<TOther>(d4)); -} - - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiMatrix3x3t<TReal>& m) { - a1 = m.a1; a2 = m.a2; a3 = m.a3; a4 = static_cast<TReal>(0.0); - b1 = m.b1; b2 = m.b2; b3 = m.b3; b4 = static_cast<TReal>(0.0); - c1 = m.c1; c2 = m.c2; c3 = m.c3; c4 = static_cast<TReal>(0.0); - d1 = static_cast<TReal>(0.0); d2 = static_cast<TReal>(0.0); d3 = static_cast<TReal>(0.0); d4 = static_cast<TReal>(1.0); -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation, const aiVector3t<TReal>& position) { - // build a 3x3 rotation matrix - aiMatrix3x3t<TReal> m = rotation.GetMatrix(); - - a1 = m.a1 * scaling.x; - a2 = m.a2 * scaling.x; - a3 = m.a3 * scaling.x; - a4 = position.x; - - b1 = m.b1 * scaling.y; - b2 = m.b2 * scaling.y; - b3 = m.b3 * scaling.y; - b4 = position.y; - - c1 = m.c1 * scaling.z; - c2 = m.c2 * scaling.z; - c3 = m.c3 * scaling.z; - c4= position.z; - - d1 = static_cast<TReal>(0.0); - d2 = static_cast<TReal>(0.0); - d3 = static_cast<TReal>(0.0); - d4 = static_cast<TReal>(1.0); -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::operator *= (const aiMatrix4x4t<TReal>& m) { - *this = aiMatrix4x4t<TReal>( - m.a1 * a1 + m.b1 * a2 + m.c1 * a3 + m.d1 * a4, - m.a2 * a1 + m.b2 * a2 + m.c2 * a3 + m.d2 * a4, - m.a3 * a1 + m.b3 * a2 + m.c3 * a3 + m.d3 * a4, - m.a4 * a1 + m.b4 * a2 + m.c4 * a3 + m.d4 * a4, - m.a1 * b1 + m.b1 * b2 + m.c1 * b3 + m.d1 * b4, - m.a2 * b1 + m.b2 * b2 + m.c2 * b3 + m.d2 * b4, - m.a3 * b1 + m.b3 * b2 + m.c3 * b3 + m.d3 * b4, - m.a4 * b1 + m.b4 * b2 + m.c4 * b3 + m.d4 * b4, - m.a1 * c1 + m.b1 * c2 + m.c1 * c3 + m.d1 * c4, - m.a2 * c1 + m.b2 * c2 + m.c2 * c3 + m.d2 * c4, - m.a3 * c1 + m.b3 * c2 + m.c3 * c3 + m.d3 * c4, - m.a4 * c1 + m.b4 * c2 + m.c4 * c3 + m.d4 * c4, - m.a1 * d1 + m.b1 * d2 + m.c1 * d3 + m.d1 * d4, - m.a2 * d1 + m.b2 * d2 + m.c2 * d3 + m.d2 * d4, - m.a3 * d1 + m.b3 * d2 + m.c3 * d3 + m.d3 * d4, - m.a4 * d1 + m.b4 * d2 + m.c4 * d3 + m.d4 * d4); - return *this; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const TReal& aFloat) const { - aiMatrix4x4t<TReal> temp( - a1 * aFloat, - a2 * aFloat, - a3 * aFloat, - a4 * aFloat, - b1 * aFloat, - b2 * aFloat, - b3 * aFloat, - b4 * aFloat, - c1 * aFloat, - c2 * aFloat, - c3 * aFloat, - c4 * aFloat, - d1 * aFloat, - d2 * aFloat, - d3 * aFloat, - d4 * aFloat); - return temp; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator+ (const aiMatrix4x4t<TReal>& m) const { - aiMatrix4x4t<TReal> temp( - m.a1 + a1, - m.a2 + a2, - m.a3 + a3, - m.a4 + a4, - m.b1 + b1, - m.b2 + b2, - m.b3 + b3, - m.b4 + b4, - m.c1 + c1, - m.c2 + c2, - m.c3 + c3, - m.c4 + c4, - m.d1 + d1, - m.d2 + d2, - m.d3 + d3, - m.d4 + d4); - return temp; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const aiMatrix4x4t<TReal>& m) const { - aiMatrix4x4t<TReal> temp( *this); - temp *= m; - return temp; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Transpose() { - // (TReal&) don't remove, GCC complains cause of packed fields - std::swap( (TReal&)b1, (TReal&)a2); - std::swap( (TReal&)c1, (TReal&)a3); - std::swap( (TReal&)c2, (TReal&)b3); - std::swap( (TReal&)d1, (TReal&)a4); - std::swap( (TReal&)d2, (TReal&)b4); - std::swap( (TReal&)d3, (TReal&)c4); - return *this; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -TReal aiMatrix4x4t<TReal>::Determinant() const { - return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4 - + a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4 - - a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3 - + a3*b4*c1*d2 - a3*b4*c2*d1 + a3*b1*c2*d4 - a3*b1*c4*d2 - + a3*b2*c4*d1 - a3*b2*c1*d4 - a4*b1*c2*d3 + a4*b1*c3*d2 - - a4*b2*c3*d1 + a4*b2*c1*d3 - a4*b3*c1*d2 + a4*b3*c2*d1; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse() { - // Compute the reciprocal determinant - const 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 it is easy to debug for the - // programmer. - const TReal nan = std::numeric_limits<TReal>::quiet_NaN(); - *this = aiMatrix4x4t<TReal>( - nan,nan,nan,nan, - nan,nan,nan,nan, - nan,nan,nan,nan, - nan,nan,nan,nan); - - return *this; - } - - const TReal invdet = static_cast<TReal>(1.0) / det; - - aiMatrix4x4t<TReal> res; - res.a1 = invdet * (b2 * (c3 * d4 - c4 * d3) + b3 * (c4 * d2 - c2 * d4) + b4 * (c2 * d3 - c3 * d2)); - res.a2 = -invdet * (a2 * (c3 * d4 - c4 * d3) + a3 * (c4 * d2 - c2 * d4) + a4 * (c2 * d3 - c3 * d2)); - res.a3 = invdet * (a2 * (b3 * d4 - b4 * d3) + a3 * (b4 * d2 - b2 * d4) + a4 * (b2 * d3 - b3 * d2)); - res.a4 = -invdet * (a2 * (b3 * c4 - b4 * c3) + a3 * (b4 * c2 - b2 * c4) + a4 * (b2 * c3 - b3 * c2)); - res.b1 = -invdet * (b1 * (c3 * d4 - c4 * d3) + b3 * (c4 * d1 - c1 * d4) + b4 * (c1 * d3 - c3 * d1)); - res.b2 = invdet * (a1 * (c3 * d4 - c4 * d3) + a3 * (c4 * d1 - c1 * d4) + a4 * (c1 * d3 - c3 * d1)); - res.b3 = -invdet * (a1 * (b3 * d4 - b4 * d3) + a3 * (b4 * d1 - b1 * d4) + a4 * (b1 * d3 - b3 * d1)); - res.b4 = invdet * (a1 * (b3 * c4 - b4 * c3) + a3 * (b4 * c1 - b1 * c4) + a4 * (b1 * c3 - b3 * c1)); - res.c1 = invdet * (b1 * (c2 * d4 - c4 * d2) + b2 * (c4 * d1 - c1 * d4) + b4 * (c1 * d2 - c2 * d1)); - res.c2 = -invdet * (a1 * (c2 * d4 - c4 * d2) + a2 * (c4 * d1 - c1 * d4) + a4 * (c1 * d2 - c2 * d1)); - res.c3 = invdet * (a1 * (b2 * d4 - b4 * d2) + a2 * (b4 * d1 - b1 * d4) + a4 * (b1 * d2 - b2 * d1)); - res.c4 = -invdet * (a1 * (b2 * c4 - b4 * c2) + a2 * (b4 * c1 - b1 * c4) + a4 * (b1 * c2 - b2 * c1)); - res.d1 = -invdet * (b1 * (c2 * d3 - c3 * d2) + b2 * (c3 * d1 - c1 * d3) + b3 * (c1 * d2 - c2 * d1)); - res.d2 = invdet * (a1 * (c2 * d3 - c3 * d2) + a2 * (c3 * d1 - c1 * d3) + a3 * (c1 * d2 - c2 * d1)); - res.d3 = -invdet * (a1 * (b2 * d3 - b3 * d2) + a2 * (b3 * d1 - b1 * d3) + a3 * (b1 * d2 - b2 * d1)); - res.d4 = invdet * (a1 * (b2 * c3 - b3 * c2) + a2 * (b3 * c1 - b1 * c3) + a3 * (b1 * c2 - b2 * c1)); - *this = res; - - return *this; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) { - if (p_iIndex > 3) { - return nullptr; - } - switch ( p_iIndex ) { - case 0: - return &a1; - case 1: - return &b1; - case 2: - return &c1; - case 3: - return &d1; - default: - break; - } - return &a1; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -const TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) const { - if (p_iIndex > 3) { - return nullptr; - } - - switch ( p_iIndex ) { - case 0: - return &a1; - case 1: - return &b1; - case 2: - return &c1; - case 3: - return &d1; - default: - break; - } - return &a1; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -bool aiMatrix4x4t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const { - return (a1 == m.a1 && a2 == m.a2 && a3 == m.a3 && a4 == m.a4 && - b1 == m.b1 && b2 == m.b2 && b3 == m.b3 && b4 == m.b4 && - c1 == m.c1 && c2 == m.c2 && c3 == m.c3 && c4 == m.c4 && - d1 == m.d1 && d2 == m.d2 && d3 == m.d3 && d4 == m.d4); -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -bool aiMatrix4x4t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const { - return !(*this == m); -} - -// --------------------------------------------------------------------------- -template<typename TReal> -AI_FORCE_INLINE -bool aiMatrix4x4t<TReal>::Equal(const aiMatrix4x4t<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(a4 - m.a4) <= epsilon && - std::abs(b1 - m.b1) <= epsilon && - std::abs(b2 - m.b2) <= epsilon && - std::abs(b3 - m.b3) <= epsilon && - std::abs(b4 - m.b4) <= epsilon && - std::abs(c1 - m.c1) <= epsilon && - std::abs(c2 - m.c2) <= epsilon && - std::abs(c3 - m.c3) <= epsilon && - std::abs(c4 - m.c4) <= epsilon && - std::abs(d1 - m.d1) <= epsilon && - std::abs(d2 - m.d2) <= epsilon && - std::abs(d3 - m.d3) <= epsilon && - std::abs(d4 - m.d4) <= epsilon; -} - -// ---------------------------------------------------------------------------------------- - -#define ASSIMP_MATRIX4_4_DECOMPOSE_PART \ - const aiMatrix4x4t<TReal>& _this = *this;/* Create alias for conveniance. */ \ - \ - /* extract translation */ \ - pPosition.x = _this[0][3]; \ - pPosition.y = _this[1][3]; \ - pPosition.z = _this[2][3]; \ - \ - /* extract the columns of the matrix. */ \ - aiVector3t<TReal> vCols[3] = { \ - aiVector3t<TReal>(_this[0][0],_this[1][0],_this[2][0]), \ - aiVector3t<TReal>(_this[0][1],_this[1][1],_this[2][1]), \ - aiVector3t<TReal>(_this[0][2],_this[1][2],_this[2][2]) \ - }; \ - \ - /* extract the scaling factors */ \ - pScaling.x = vCols[0].Length(); \ - pScaling.y = vCols[1].Length(); \ - pScaling.z = vCols[2].Length(); \ - \ - /* and the sign of the scaling */ \ - if (Determinant() < 0) pScaling = -pScaling; \ - \ - /* and remove all scaling from the matrix */ \ - if(pScaling.x) vCols[0] /= pScaling.x; \ - if(pScaling.y) vCols[1] /= pScaling.y; \ - if(pScaling.z) vCols[2] /= pScaling.z; \ - \ - do {} while(false) - -template <typename TReal> -AI_FORCE_INLINE -void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& pScaling, aiQuaterniont<TReal>& pRotation, - aiVector3t<TReal>& pPosition) const { - ASSIMP_MATRIX4_4_DECOMPOSE_PART; - - // build a 3x3 rotation matrix - aiMatrix3x3t<TReal> m(vCols[0].x,vCols[1].x,vCols[2].x, - vCols[0].y,vCols[1].y,vCols[2].y, - vCols[0].z,vCols[1].z,vCols[2].z); - - // and generate the rotation quaternion from it - pRotation = aiQuaterniont<TReal>(m); -} - -template <typename TReal> -AI_FORCE_INLINE -void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const { - ASSIMP_MATRIX4_4_DECOMPOSE_PART; - - /* - assuming a right-handed coordinate system - and post-multiplication of column vectors, - the rotation matrix for an euler XYZ rotation is M = Rz * Ry * Rx. - combining gives: - - | CE BDE-AF ADE+BF 0 | - M = | CF BDF+AE ADF-BE 0 | - | -D CB AC 0 | - | 0 0 0 1 | - - where - A = cos(angle_x), B = sin(angle_x); - C = cos(angle_y), D = sin(angle_y); - E = cos(angle_z), F = sin(angle_z); - */ - - // Use a small epsilon to solve floating-point inaccuracies - const TReal epsilon = Assimp::Math::getEpsilon<TReal>(); - - pRotation.y = std::asin(-vCols[0].z);// D. Angle around oY. - - TReal C = std::cos(pRotation.y); - - if(std::fabs(C) > epsilon) - { - // Finding angle around oX. - TReal tan_x = vCols[2].z / C;// A - TReal tan_y = vCols[1].z / C;// B - - pRotation.x = std::atan2(tan_y, tan_x); - // Finding angle around oZ. - tan_x = vCols[0].x / C;// E - tan_y = vCols[0].y / C;// F - pRotation.z = std::atan2(tan_y, tan_x); - } - else - {// oY is fixed. - pRotation.x = 0;// Set angle around oX to 0. => A == 1, B == 0, C == 0, D == 1. - - // And finding angle around oZ. - TReal tan_x = vCols[1].y;// BDF+AE => E - TReal tan_y = -vCols[1].x;// BDE-AF => F - - pRotation.z = std::atan2(tan_y, tan_x); - } -} - -#undef ASSIMP_MATRIX4_4_DECOMPOSE_PART - -template <typename TReal> -AI_FORCE_INLINE -void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, - aiVector3t<TReal>& pPosition) const { - aiQuaterniont<TReal> pRotation; - - Decompose(pScaling, pRotation, pPosition); - pRotation.Normalize(); - - TReal angle_cos = pRotation.w; - TReal angle_sin = std::sqrt(1.0f - angle_cos * angle_cos); - - pRotationAngle = std::acos(angle_cos) * 2; - - // Use a small epsilon to solve floating-point inaccuracies - const TReal epsilon = 10e-3f; - - if(std::fabs(angle_sin) < epsilon) angle_sin = 1; - - pRotationAxis.x = pRotation.x / angle_sin; - pRotationAxis.y = pRotation.y / angle_sin; - pRotationAxis.z = pRotation.z / angle_sin; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -void aiMatrix4x4t<TReal>::DecomposeNoScaling (aiQuaterniont<TReal>& rotation, - aiVector3t<TReal>& position) const { - const aiMatrix4x4t<TReal>& _this = *this; - - // extract translation - position.x = _this[0][3]; - position.y = _this[1][3]; - position.z = _this[2][3]; - - // extract rotation - rotation = aiQuaterniont<TReal>((aiMatrix3x3t<TReal>)_this); -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb) { - return FromEulerAnglesXYZ(blubb.x,blubb.y,blubb.z); -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(TReal x, TReal y, TReal z) { - aiMatrix4x4t<TReal>& _this = *this; - - TReal cx = std::cos(x); - TReal sx = std::sin(x); - TReal cy = std::cos(y); - TReal sy = std::sin(y); - TReal cz = std::cos(z); - TReal sz = std::sin(z); - - // mz*my*mx - _this.a1 = cz * cy; - _this.a2 = cz * sy * sx - sz * cx; - _this.a3 = sz * sx + cz * sy * cx; - - _this.b1 = sz * cy; - _this.b2 = cz * cx + sz * sy * sx; - _this.b3 = sz * sy * cx - cz * sx; - - _this.c1 = -sy; - _this.c2 = cy * sx; - _this.c3 = cy * cx; - - return *this; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -bool aiMatrix4x4t<TReal>::IsIdentity() const { - // Use a small epsilon to solve floating-point inaccuracies - const static TReal epsilon = 10e-3f; - - return (a2 <= epsilon && a2 >= -epsilon && - a3 <= epsilon && a3 >= -epsilon && - a4 <= epsilon && a4 >= -epsilon && - b1 <= epsilon && b1 >= -epsilon && - b3 <= epsilon && b3 >= -epsilon && - b4 <= epsilon && b4 >= -epsilon && - c1 <= epsilon && c1 >= -epsilon && - c2 <= epsilon && c2 >= -epsilon && - c4 <= epsilon && c4 >= -epsilon && - d1 <= epsilon && d1 >= -epsilon && - d2 <= epsilon && d2 >= -epsilon && - d3 <= epsilon && d3 >= -epsilon && - a1 <= 1.f+epsilon && a1 >= 1.f-epsilon && - b2 <= 1.f+epsilon && b2 >= 1.f-epsilon && - c3 <= 1.f+epsilon && c3 >= 1.f-epsilon && - d4 <= 1.f+epsilon && d4 >= 1.f-epsilon); -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationX(TReal a, aiMatrix4x4t<TReal>& out) { - /* - | 1 0 0 0 | - M = | 0 cos(A) -sin(A) 0 | - | 0 sin(A) cos(A) 0 | - | 0 0 0 1 | */ - out = aiMatrix4x4t<TReal>(); - out.b2 = out.c3 = std::cos(a); - out.b3 = -(out.c2 = std::sin(a)); - return out; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationY(TReal a, aiMatrix4x4t<TReal>& out) { - /* - | cos(A) 0 sin(A) 0 | - M = | 0 1 0 0 | - | -sin(A) 0 cos(A) 0 | - | 0 0 0 1 | - */ - out = aiMatrix4x4t<TReal>(); - out.a1 = out.c3 = std::cos(a); - out.c1 = -(out.a3 = std::sin(a)); - return out; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationZ(TReal a, aiMatrix4x4t<TReal>& out) { - /* - | cos(A) -sin(A) 0 0 | - M = | sin(A) cos(A) 0 0 | - | 0 0 1 0 | - | 0 0 0 1 | */ - out = aiMatrix4x4t<TReal>(); - out.a1 = out.b2 = std::cos(a); - out.a2 = -(out.b1 = std::sin(a)); - return out; -} - -// ---------------------------------------------------------------------------------------- -// Returns a rotation matrix for a rotation around an arbitrary axis. -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix4x4t<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; - out.a4 = out.b4 = out.c4 = static_cast<TReal>(0.0); - out.d1 = out.d2 = out.d3 = static_cast<TReal>(0.0); - out.d4 = static_cast<TReal>(1.0); - - return out; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Translation( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out) { - out = aiMatrix4x4t<TReal>(); - out.a4 = v.x; - out.b4 = v.y; - out.c4 = v.z; - return out; -} - -// ---------------------------------------------------------------------------------------- -template <typename TReal> -AI_FORCE_INLINE -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out) { - out = aiMatrix4x4t<TReal>(); - out.a1 = v.x; - out.b2 = v.y; - out.c3 = v.z; - 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 -aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromToMatrix(const aiVector3t<TReal>& from, - const aiVector3t<TReal>& to, aiMatrix4x4t<TReal>& mtx) { - aiMatrix3x3t<TReal> m3; - aiMatrix3x3t<TReal>::FromToMatrix(from,to,m3); - mtx = aiMatrix4x4t<TReal>(m3); - return mtx; -} - -#endif // __cplusplus -#endif // AI_MATRIX4X4_INL_INC |