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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 matrix4x4.h
* @brief 4x4 matrix structure, including operators when compiling in C++
*/
#pragma once
#ifndef AI_MATRIX4X4_H_INC
#define AI_MATRIX4X4_H_INC
#ifdef __GNUC__
# pragma GCC system_header
#endif
#include <assimp/vector3.h>
#include <assimp/defs.h>
#ifdef __cplusplus
template<typename TReal> class aiMatrix3x3t;
template<typename TReal> class aiQuaterniont;
// ---------------------------------------------------------------------------
/** @brief Represents a row-major 4x4 matrix, use this for homogeneous
* coordinates.
*
* There's much confusion about matrix layouts (column vs. row order).
* This is *always* a row-major matrix. Not even with the
* #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect
* matrix order - it just affects the handedness of the coordinate system
* defined thereby.
*/
template<typename TReal>
class aiMatrix4x4t {
public:
/** set to identity */
aiMatrix4x4t() AI_NO_EXCEPT;
/** construction from single values */
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);
/** construction from 3x3 matrix, remaining elements are set to identity */
explicit aiMatrix4x4t( const aiMatrix3x3t<TReal>& m);
/** construction from position, rotation and scaling components
* @param scaling The scaling for the x,y,z axes
* @param rotation The rotation as a hamilton quaternion
* @param position The position for the x,y,z axes
*/
aiMatrix4x4t(const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation,
const aiVector3t<TReal>& position);
// array access operators
/** @fn TReal* operator[] (unsigned int p_iIndex)
* @param [in] p_iIndex - index of the row.
* @return pointer to pointed row.
*/
TReal* operator[] (unsigned int p_iIndex);
/** @fn const TReal* operator[] (unsigned int p_iIndex) const
* @overload TReal* operator[] (unsigned int p_iIndex)
*/
const TReal* operator[] (unsigned int p_iIndex) const;
// comparison operators
bool operator== (const aiMatrix4x4t& m) const;
bool operator!= (const aiMatrix4x4t& m) const;
bool Equal(const aiMatrix4x4t &m, TReal epsilon = ai_epsilon) const;
// matrix multiplication.
aiMatrix4x4t& operator *= (const aiMatrix4x4t& m);
aiMatrix4x4t operator * (const aiMatrix4x4t& m) const;
aiMatrix4x4t operator * (const TReal& aFloat) const;
aiMatrix4x4t operator + (const aiMatrix4x4t& aMatrix) const;
template <typename TOther>
operator aiMatrix4x4t<TOther> () const;
// -------------------------------------------------------------------
/** @brief Transpose the matrix */
aiMatrix4x4t& Transpose();
// -------------------------------------------------------------------
/** @brief Invert the matrix.
* If the matrix is not invertible all elements are set to qnan.
* Beware, use (f != f) to check whether a TReal f is qnan.
*/
aiMatrix4x4t& Inverse();
TReal Determinant() const;
// -------------------------------------------------------------------
/** @brief Returns true of the matrix is the identity matrix.
* The check is performed against a not so small epsilon.
*/
inline bool IsIdentity() const;
// -------------------------------------------------------------------
/** @brief Decompose a trafo matrix into its original components
* @param scaling Receives the output scaling for the x,y,z axes
* @param rotation Receives the output rotation as a hamilton
* quaternion
* @param position Receives the output position for the x,y,z axes
*/
void Decompose (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
aiVector3t<TReal>& position) const;
// -------------------------------------------------------------------
/** @fn void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const
* @brief Decompose a trafo matrix into its original components.
* Thx to good FAQ at http://www.gamedev.ru/code/articles/faq_matrix_quat
* @param [out] pScaling - Receives the output scaling for the x,y,z axes.
* @param [out] pRotation - Receives the output rotation as a Euler angles.
* @param [out] pPosition - Receives the output position for the x,y,z axes.
*/
void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const;
// -------------------------------------------------------------------
/** @fn void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, aiVector3t<TReal>& pPosition) const
* @brief Decompose a trafo matrix into its original components
* Thx to good FAQ at http://www.gamedev.ru/code/articles/faq_matrix_quat
* @param [out] pScaling - Receives the output scaling for the x,y,z axes.
* @param [out] pRotationAxis - Receives the output rotation axis.
* @param [out] pRotationAngle - Receives the output rotation angle for @ref pRotationAxis.
* @param [out] pPosition - Receives the output position for the x,y,z axes.
*/
void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, aiVector3t<TReal>& pPosition) const;
// -------------------------------------------------------------------
/** @brief Decompose a trafo matrix with no scaling into its
* original components
* @param rotation Receives the output rotation as a hamilton
* quaternion
* @param position Receives the output position for the x,y,z axes
*/
void DecomposeNoScaling (aiQuaterniont<TReal>& rotation,
aiVector3t<TReal>& position) const;
// -------------------------------------------------------------------
/** @brief Creates a trafo matrix from a set of euler angles
* @param x Rotation angle for the x-axis, in radians
* @param y Rotation angle for the y-axis, in radians
* @param z Rotation angle for the z-axis, in radians
*/
aiMatrix4x4t& FromEulerAnglesXYZ(TReal x, TReal y, TReal z);
aiMatrix4x4t& FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb);
// -------------------------------------------------------------------
/** @brief Returns a rotation matrix for a rotation around the x axis
* @param a Rotation angle, in radians
* @param out Receives the output matrix
* @return Reference to the output matrix
*/
static aiMatrix4x4t& RotationX(TReal a, aiMatrix4x4t& out);
// -------------------------------------------------------------------
/** @brief Returns a rotation matrix for a rotation around the y axis
* @param a Rotation angle, in radians
* @param out Receives the output matrix
* @return Reference to the output matrix
*/
static aiMatrix4x4t& RotationY(TReal a, aiMatrix4x4t& out);
// -------------------------------------------------------------------
/** @brief Returns a rotation matrix for a rotation around the z axis
* @param a Rotation angle, in radians
* @param out Receives the output matrix
* @return Reference to the output matrix
*/
static aiMatrix4x4t& RotationZ(TReal a, aiMatrix4x4t& out);
// -------------------------------------------------------------------
/** Returns a rotation matrix for a rotation around an arbitrary axis.
* @param a Rotation angle, in radians
* @param axis Rotation axis, should be a normalized vector.
* @param out Receives the output matrix
* @return Reference to the output matrix
*/
static aiMatrix4x4t& Rotation(TReal a, const aiVector3t<TReal>& axis,
aiMatrix4x4t& out);
// -------------------------------------------------------------------
/** @brief Returns a translation matrix
* @param v Translation vector
* @param out Receives the output matrix
* @return Reference to the output matrix
*/
static aiMatrix4x4t& Translation( const aiVector3t<TReal>& v,
aiMatrix4x4t& out);
// -------------------------------------------------------------------
/** @brief Returns a scaling matrix
* @param v Scaling vector
* @param out Receives the output matrix
* @return Reference to the output matrix
*/
static aiMatrix4x4t& Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t& out);
// -------------------------------------------------------------------
/** @brief 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 column-major form
* Authors: Tomas Mueller, John Hughes
* "Efficiently Building a Matrix to Rotate One Vector to Another"
* Journal of Graphics Tools, 4(4):1-4, 1999
*/
static aiMatrix4x4t& FromToMatrix(const aiVector3t<TReal>& from,
const aiVector3t<TReal>& to, aiMatrix4x4t& out);
TReal a1, a2, a3, a4;
TReal b1, b2, b3, b4;
TReal c1, c2, c3, c4;
TReal d1, d2, d3, d4;
};
typedef aiMatrix4x4t<ai_real> aiMatrix4x4;
#else
struct aiMatrix4x4 {
ai_real a1, a2, a3, a4;
ai_real b1, b2, b3, b4;
ai_real c1, c2, c3, c4;
ai_real d1, d2, d3, d4;
};
#endif // __cplusplus
#endif // AI_MATRIX4X4_H_INC
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