Matrixd
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/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2004 Robert Osfield
*
* This library is open source and may be redistributed and/or modified under
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
* (at your option) any later version. The full license is in LICENSE file
* included with this distribution, and on the openscenegraph.org website.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* OpenSceneGraph Public License for more details.
*/
#ifndef OSG_MATRIXD
#define OSG_MATRIXD 1
#include <osg/Object>
#include <osg/Vec3d>
#include <osg/Vec4d>
#include <osg/Quat>
namespace osg {
class Matrixf;
class OSG_EXPORT Matrixd
{
public:
typedef double value_type;
typedef float other_value_type;
inline Matrixd() { makeIdentity(); }
inline Matrixd( const Matrixd& mat) { set(mat.ptr()); }
Matrixd( const Matrixf& mat );
inline explicit Matrixd( float const * const ptr ) { set(ptr); }
inline explicit Matrixd( double const * const ptr ) { set(ptr); }
inline explicit Matrixd( const Quat& quat ) { makeRotate(quat); }
Matrixd(value_type a00, value_type a01, value_type a02, value_type a03,
value_type a10, value_type a11, value_type a12, value_type a13,
value_type a20, value_type a21, value_type a22, value_type a23,
value_type a30, value_type a31, value_type a32, value_type a33);
~Matrixd() {}
int compare(const Matrixd& m) const;
bool operator < (const Matrixd& m) const { return compare(m)<0; }
bool operator == (const Matrixd& m) const { return compare(m)==0; }
bool operator != (const Matrixd& m) const { return compare(m)!=0; }
inline value_type& operator()(int row, int col) { return _mat[row][col]; }
inline value_type operator()(int row, int col) const { return _mat[row][col]; }
inline bool valid() const { return !isNaN(); }
inline bool isNaN() const { return osg::isNaN(_mat[0][0]) || osg::isNaN(_mat[0][1]) || osg::isNaN(_mat[0][2]) || osg::isNaN(_mat[0][3]) ||
osg::isNaN(_mat[1][0]) || osg::isNaN(_mat[1][1]) || osg::isNaN(_mat[1][2]) || osg::isNaN(_mat[1][3]) ||
osg::isNaN(_mat[2][0]) || osg::isNaN(_mat[2][1]) || osg::isNaN(_mat[2][2]) || osg::isNaN(_mat[2][3]) ||
osg::isNaN(_mat[3][0]) || osg::isNaN(_mat[3][1]) || osg::isNaN(_mat[3][2]) || osg::isNaN(_mat[3][3]); }
inline Matrixd& operator = (const Matrixd& rhs)
{
if( &rhs == this ) return *this;
set(rhs.ptr());
return *this;
}
Matrixd& operator = (const Matrixf& other);
inline void set(const Matrixd& rhs) { set(rhs.ptr()); }
void set(const Matrixf& rhs);
inline void set(float const * const ptr)
{
value_type* local_ptr = (value_type*)_mat;
for(int i=0;i<16;++i) local_ptr[i]=(value_type)ptr[i];
}
inline void set(double const * const ptr)
{
value_type* local_ptr = (value_type*)_mat;
for(int i=0;i<16;++i) local_ptr[i]=(value_type)ptr[i];
}
void set(value_type a00, value_type a01, value_type a02,value_type a03,
value_type a10, value_type a11, value_type a12,value_type a13,
value_type a20, value_type a21, value_type a22,value_type a23,
value_type a30, value_type a31, value_type a32,value_type a33);
value_type * ptr() { return (value_type*)_mat; }
const value_type * ptr() const { return (const value_type *)_mat; }
bool isIdentity() const
{
return _mat[0][0]==1.0 && _mat[0][1]==0.0 && _mat[0][2]==0.0 && _mat[0][3]==0.0 &&
_mat[1][0]==0.0 && _mat[1][1]==1.0 && _mat[1][2]==0.0 && _mat[1][3]==0.0 &&
_mat[2][0]==0.0 && _mat[2][1]==0.0 && _mat[2][2]==1.0 && _mat[2][3]==0.0 &&
_mat[3][0]==0.0 && _mat[3][1]==0.0 && _mat[3][2]==0.0 && _mat[3][3]==1.0;
}
void makeIdentity();
void makeScale( const Vec3f& );
void makeScale( const Vec3d& );
void makeScale( value_type, value_type, value_type );
void makeTranslate( const Vec3f& );
void makeTranslate( const Vec3d& );
void makeTranslate( value_type, value_type, value_type );
void makeRotate( const Vec3f& from, const Vec3f& to );
void makeRotate( const Vec3d& from, const Vec3d& to );
void makeRotate( value_type angle, const Vec3f& axis );
void makeRotate( value_type angle, const Vec3d& axis );
void makeRotate( value_type angle, value_type x, value_type y, value_type z );
void makeRotate( const Quat& );
void makeRotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3);
void makeRotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3);
void decompose( osg::Vec3f& translation,
osg::Quat& rotation,
osg::Vec3f& scale,
osg::Quat& so ) const;
void decompose( osg::Vec3d& translation,
osg::Quat& rotation,
osg::Vec3d& scale,
osg::Quat& so ) const;
void makeOrtho(double left, double right,
double bottom, double top,
double zNear, double zFar);
bool getOrtho(double& left, double& right,
double& bottom, double& top,
double& zNear, double& zFar) const;
bool getOrtho(float& left, float& right,
float& bottom, float& top,
float& zNear, float& zFar) const;
inline void makeOrtho2D(double left, double right,
double bottom, double top)
{
makeOrtho(left,right,bottom,top,-1.0,1.0);
}
void makeFrustum(double left, double right,
double bottom, double top,
double zNear, double zFar);
bool getFrustum(double& left, double& right,
double& bottom, double& top,
double& zNear, double& zFar) const;
bool getFrustum(float& left, float& right,
float& bottom, float& top,
float& zNear, float& zFar) const;
void makePerspective(double fovy, double aspectRatio,
double zNear, double zFar);
bool getPerspective(double& fovy, double& aspectRatio,
double& zNear, double& zFar) const;
bool getPerspective(float& fovy, float& aspectRatio,
float& zNear, float& zFar) const;
void makeLookAt(const Vec3d& eye,const Vec3d& center,const Vec3d& up);
void getLookAt(Vec3f& eye,Vec3f& center,Vec3f& up,
value_type lookDistance=1.0f) const;
void getLookAt(Vec3d& eye,Vec3d& center,Vec3d& up,
value_type lookDistance=1.0f) const;
inline bool invert( const Matrixd& rhs)
{
bool is_4x3 = (rhs._mat[0][3]==0.0 && rhs._mat[1][3]==0.0 && rhs._mat[2][3]==0.0 && rhs._mat[3][3]==1.0);
return is_4x3 ? invert_4x3(rhs) : invert_4x4(rhs);
}
bool invert_4x3( const Matrixd& rhs);
bool invert_4x4( const Matrixd& rhs);
bool transpose(const Matrixd&rhs);
bool transpose3x3(const Matrixd&rhs);
void orthoNormalize(const Matrixd& rhs);
// basic utility functions to create new matrices
inline static Matrixd identity( void );
inline static Matrixd scale( const Vec3f& sv);
inline static Matrixd scale( const Vec3d& sv);
inline static Matrixd scale( value_type sx, value_type sy, value_type sz);
inline static Matrixd translate( const Vec3f& dv);
inline static Matrixd translate( const Vec3d& dv);
inline static Matrixd translate( value_type x, value_type y, value_type z);
inline static Matrixd rotate( const Vec3f& from, const Vec3f& to);
inline static Matrixd rotate( const Vec3d& from, const Vec3d& to);
inline static Matrixd rotate( value_type angle, value_type x, value_type y, value_type z);
inline static Matrixd rotate( value_type angle, const Vec3f& axis);
inline static Matrixd rotate( value_type angle, const Vec3d& axis);
inline static Matrixd rotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3);
inline static Matrixd rotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3);
inline static Matrixd rotate( const Quat& quat);
inline static Matrixd inverse( const Matrixd& matrix);
inline static Matrixd orthoNormal(const Matrixd& matrix);
inline static Matrixd ortho(double left, double right,
double bottom, double top,
double zNear, double zFar);
inline static Matrixd ortho2D(double left, double right,
double bottom, double top);
inline static Matrixd frustum(double left, double right,
double bottom, double top,
double zNear, double zFar);
inline static Matrixd perspective(double fovy, double aspectRatio,
double zNear, double zFar);
inline static Matrixd lookAt(const Vec3f& eye,
const Vec3f& center,
const Vec3f& up);
inline static Matrixd lookAt(const Vec3d& eye,
const Vec3d& center,
const Vec3d& up);
inline Vec3f preMult( const Vec3f& v ) const;
inline Vec3d preMult( const Vec3d& v ) const;
inline Vec3f postMult( const Vec3f& v ) const;
inline Vec3d postMult( const Vec3d& v ) const;
inline Vec3f operator* ( const Vec3f& v ) const;
inline Vec3d operator* ( const Vec3d& v ) const;
inline Vec4f preMult( const Vec4f& v ) const;
inline Vec4d preMult( const Vec4d& v ) const;
inline Vec4f postMult( const Vec4f& v ) const;
inline Vec4d postMult( const Vec4d& v ) const;
inline Vec4f operator* ( const Vec4f& v ) const;
inline Vec4d operator* ( const Vec4d& v ) const;
#ifdef OSG_USE_DEPRECATED_API
inline void set(const Quat& q) { makeRotate(q); }
inline void get(Quat& q) const { q = getRotate(); }
#endif
void setRotate(const Quat& q);
Quat getRotate() const;
void setTrans( value_type tx, value_type ty, value_type tz );
void setTrans( const Vec3f& v );
void setTrans( const Vec3d& v );
inline Vec3d getTrans() const { return Vec3d(_mat[3][0],_mat[3][1],_mat[3][2]); }
inline Vec3d getScale() const {
Vec3d x_vec(_mat[0][0],_mat[1][0],_mat[2][0]);
Vec3d y_vec(_mat[0][1],_mat[1][1],_mat[2][1]);
Vec3d z_vec(_mat[0][2],_mat[1][2],_mat[2][2]);
return Vec3d(x_vec.length(), y_vec.length(), z_vec.length());
}
inline static Vec3f transform3x3(const Vec3f& v,const Matrixd& m);
inline static Vec3d transform3x3(const Vec3d& v,const Matrixd& m);
inline static Vec3f transform3x3(const Matrixd& m,const Vec3f& v);
inline static Vec3d transform3x3(const Matrixd& m,const Vec3d& v);
// basic Matrixd multiplication, our workhorse methods.
void mult( const Matrixd&, const Matrixd& );
void preMult( const Matrixd& );
void postMult( const Matrixd& );
inline void preMultTranslate( const Vec3d& v );
inline void preMultTranslate( const Vec3f& v );
inline void postMultTranslate( const Vec3d& v );
inline void postMultTranslate( const Vec3f& v );
inline void preMultScale( const Vec3d& v );
inline void preMultScale( const Vec3f& v );
inline void postMultScale( const Vec3d& v );
inline void postMultScale( const Vec3f& v );
inline void preMultRotate( const Quat& q );
inline void postMultRotate( const Quat& q );
inline void operator *= ( const Matrixd& other )
{ if( this == &other ) {
Matrixd temp(other);
postMult( temp );
}
else postMult( other );
}
inline Matrixd operator * ( const Matrixd &m ) const
{
osg::Matrixd r;
r.mult(*this,m);
return r;
}
protected:
value_type _mat[4][4];
};
class RefMatrixd : public Object, public Matrixd
{
public:
RefMatrixd():Object(false), Matrixd() {}
RefMatrixd( const Matrixd& other) : Object(false), Matrixd(other) {}
RefMatrixd( const Matrixf& other) : Object(false), Matrixd(other) {}
RefMatrixd( const RefMatrixd& other) : Object(other), Matrixd(other) {}
explicit RefMatrixd( Matrixd::value_type const * const def ):Object(false), Matrixd(def) {}
RefMatrixd( Matrixd::value_type a00, Matrixd::value_type a01, Matrixd::value_type a02, Matrixd::value_type a03,
Matrixd::value_type a10, Matrixd::value_type a11, Matrixd::value_type a12, Matrixd::value_type a13,
Matrixd::value_type a20, Matrixd::value_type a21, Matrixd::value_type a22, Matrixd::value_type a23,
Matrixd::value_type a30, Matrixd::value_type a31, Matrixd::value_type a32, Matrixd::value_type a33):
Object(false),
Matrixd(a00, a01, a02, a03,
a10, a11, a12, a13,
a20, a21, a22, a23,
a30, a31, a32, a33) {}
virtual Object* cloneType() const { return new RefMatrixd(); }
virtual Object* clone(const CopyOp&) const { return new RefMatrixd(*this); }
virtual bool isSameKindAs(const Object* obj) const { return dynamic_cast<const RefMatrixd*>(obj)!=NULL; }
virtual const char* libraryName() const { return "osg"; }
virtual const char* className() const { return "Matrix"; }
protected:
virtual ~RefMatrixd() {}
};
// static utility methods
inline Matrixd Matrixd::identity(void)
{
Matrixd m;
m.makeIdentity();
return m;
}
inline Matrixd Matrixd::scale(value_type sx, value_type sy, value_type sz)
{
Matrixd m;
m.makeScale(sx,sy,sz);
return m;
}
inline Matrixd Matrixd::scale(const Vec3f& v )
{
return scale(v.x(), v.y(), v.z() );
}
inline Matrixd Matrixd::scale(const Vec3d& v )
{
return scale(v.x(), v.y(), v.z() );
}
inline Matrixd Matrixd::translate(value_type tx, value_type ty, value_type tz)
{
Matrixd m;
m.makeTranslate(tx,ty,tz);
return m;
}
inline Matrixd Matrixd::translate(const Vec3f& v )
{
return translate(v.x(), v.y(), v.z() );
}
inline Matrixd Matrixd::translate(const Vec3d& v )
{
return translate(v.x(), v.y(), v.z() );
}
inline Matrixd Matrixd::rotate( const Quat& q )
{
return Matrixd(q);
}
inline Matrixd Matrixd::rotate(value_type angle, value_type x, value_type y, value_type z )
{
Matrixd m;
m.makeRotate(angle,x,y,z);
return m;
}
inline Matrixd Matrixd::rotate(value_type angle, const Vec3f& axis )
{
Matrixd m;
m.makeRotate(angle,axis);
return m;
}
inline Matrixd Matrixd::rotate(value_type angle, const Vec3d& axis )
{
Matrixd m;
m.makeRotate(angle,axis);
return m;
}
inline Matrixd Matrixd::rotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3)
{
Matrixd m;
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
return m;
}
inline Matrixd Matrixd::rotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3)
{
Matrixd m;
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
return m;
}
inline Matrixd Matrixd::rotate(const Vec3f& from, const Vec3f& to )
{
Matrixd m;
m.makeRotate(from,to);
return m;
}
inline Matrixd Matrixd::rotate(const Vec3d& from, const Vec3d& to )
{
Matrixd m;
m.makeRotate(from,to);
return m;
}
inline Matrixd Matrixd::inverse( const Matrixd& matrix)
{
Matrixd m;
m.invert(matrix);
return m;
}
inline Matrixd Matrixd::orthoNormal(const Matrixd& matrix)
{
Matrixd m;
m.orthoNormalize(matrix);
return m;
}
inline Matrixd Matrixd::ortho(double left, double right,
double bottom, double top,
double zNear, double zFar)
{
Matrixd m;
m.makeOrtho(left,right,bottom,top,zNear,zFar);
return m;
}
inline Matrixd Matrixd::ortho2D(double left, double right,
double bottom, double top)
{
Matrixd m;
m.makeOrtho2D(left,right,bottom,top);
return m;
}
inline Matrixd Matrixd::frustum(double left, double right,
double bottom, double top,
double zNear, double zFar)
{
Matrixd m;
m.makeFrustum(left,right,bottom,top,zNear,zFar);
return m;
}
inline Matrixd Matrixd::perspective(double fovy, double aspectRatio,
double zNear, double zFar)
{
Matrixd m;
m.makePerspective(fovy,aspectRatio,zNear,zFar);
return m;
}
inline Matrixd Matrixd::lookAt(const Vec3f& eye,
const Vec3f& center,
const Vec3f& up)
{
Matrixd m;
m.makeLookAt(eye,center,up);
return m;
}
inline Matrixd Matrixd::lookAt(const Vec3d& eye,
const Vec3d& center,
const Vec3d& up)
{
Matrixd m;
m.makeLookAt(eye,center,up);
return m;
}
inline Vec3f Matrixd::postMult( const Vec3f& v ) const
{
value_type d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
return Vec3f( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
}
inline Vec3d Matrixd::postMult( const Vec3d& v ) const
{
value_type d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
return Vec3d( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
}
inline Vec3f Matrixd::preMult( const Vec3f& v ) const
{
value_type d = 1.0f/(_mat[0][3]*v.x()+_mat[1][3]*v.y()+_mat[2][3]*v.z()+_mat[3][3]) ;
return Vec3f( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1])*d,
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2])*d);
}
inline Vec3d Matrixd::preMult( const Vec3d& v ) const
{
value_type d = 1.0f/(_mat[0][3]*v.x()+_mat[1][3]*v.y()+_mat[2][3]*v.z()+_mat[3][3]) ;
return Vec3d( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1])*d,
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2])*d);
}
inline Vec4f Matrixd::postMult( const Vec4f& v ) const
{
return Vec4f( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3]*v.w()),
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3]*v.w()),
(_mat[3][0]*v.x() + _mat[3][1]*v.y() + _mat[3][2]*v.z() + _mat[3][3]*v.w())) ;
}
inline Vec4d Matrixd::postMult( const Vec4d& v ) const
{
return Vec4d( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3]*v.w()),
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3]*v.w()),
(_mat[3][0]*v.x() + _mat[3][1]*v.y() + _mat[3][2]*v.z() + _mat[3][3]*v.w())) ;
}
inline Vec4f Matrixd::preMult( const Vec4f& v ) const
{
return Vec4f( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1]*v.w()),
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2]*v.w()),
(_mat[0][3]*v.x() + _mat[1][3]*v.y() + _mat[2][3]*v.z() + _mat[3][3]*v.w()));
}
inline Vec4d Matrixd::preMult( const Vec4d& v ) const
{
return Vec4d( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1]*v.w()),
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2]*v.w()),
(_mat[0][3]*v.x() + _mat[1][3]*v.y() + _mat[2][3]*v.z() + _mat[3][3]*v.w()));
}
inline Vec3f Matrixd::transform3x3(const Vec3f& v,const Matrixd& m)
{
return Vec3f( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z()),
(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z()));
}
inline Vec3d Matrixd::transform3x3(const Vec3d& v,const Matrixd& m)
{
return Vec3d( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z()),
(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z()));
}
inline Vec3f Matrixd::transform3x3(const Matrixd& m,const Vec3f& v)
{
return Vec3f( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
(m._mat[1][0]*v.x() + m._mat[1][1]*v.y() + m._mat[1][2]*v.z()),
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
}
inline Vec3d Matrixd::transform3x3(const Matrixd& m,const Vec3d& v)
{
return Vec3d( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
(m._mat[1][0]*v.x() + m._mat[1][1]*v.y() + m._mat[1][2]*v.z()),
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
}
inline void Matrixd::preMultTranslate( const Vec3d& v )
{
for (unsigned i = 0; i < 3; ++i)
{
double tmp = v[i];
if (tmp == 0)
continue;
_mat[3][0] += tmp*_mat[i][0];
_mat[3][1] += tmp*_mat[i][1];
_mat[3][2] += tmp*_mat[i][2];
_mat[3][3] += tmp*_mat[i][3];
}
}
inline void Matrixd::preMultTranslate( const Vec3f& v )
{
for (unsigned i = 0; i < 3; ++i)
{
float tmp = v[i];
if (tmp == 0)
continue;
_mat[3][0] += tmp*_mat[i][0];
_mat[3][1] += tmp*_mat[i][1];
_mat[3][2] += tmp*_mat[i][2];
_mat[3][3] += tmp*_mat[i][3];
}
}
inline void Matrixd::postMultTranslate( const Vec3d& v )
{
for (unsigned i = 0; i < 3; ++i)
{
double tmp = v[i];
if (tmp == 0)
continue;
_mat[0][i] += tmp*_mat[0][3];
_mat[1][i] += tmp*_mat[1][3];
_mat[2][i] += tmp*_mat[2][3];
_mat[3][i] += tmp*_mat[3][3];
}
}
inline void Matrixd::postMultTranslate( const Vec3f& v )
{
for (unsigned i = 0; i < 3; ++i)
{
float tmp = v[i];
if (tmp == 0)
continue;
_mat[0][i] += tmp*_mat[0][3];
_mat[1][i] += tmp*_mat[1][3];
_mat[2][i] += tmp*_mat[2][3];
_mat[3][i] += tmp*_mat[3][3];
}
}
inline void Matrixd::preMultScale( const Vec3d& v )
{
_mat[0][0] *= v[0]; _mat[0][1] *= v[0]; _mat[0][2] *= v[0]; _mat[0][3] *= v[0];
_mat[1][0] *= v[1]; _mat[1][1] *= v[1]; _mat[1][2] *= v[1]; _mat[1][3] *= v[1];
_mat[2][0] *= v[2]; _mat[2][1] *= v[2]; _mat[2][2] *= v[2]; _mat[2][3] *= v[2];
}
inline void Matrixd::preMultScale( const Vec3f& v )
{
_mat[0][0] *= v[0]; _mat[0][1] *= v[0]; _mat[0][2] *= v[0]; _mat[0][3] *= v[0];
_mat[1][0] *= v[1]; _mat[1][1] *= v[1]; _mat[1][2] *= v[1]; _mat[1][3] *= v[1];
_mat[2][0] *= v[2]; _mat[2][1] *= v[2]; _mat[2][2] *= v[2]; _mat[2][3] *= v[2];
}
inline void Matrixd::postMultScale( const Vec3d& v )
{
_mat[0][0] *= v[0]; _mat[1][0] *= v[0]; _mat[2][0] *= v[0]; _mat[3][0] *= v[0];
_mat[0][1] *= v[1]; _mat[1][1] *= v[1]; _mat[2][1] *= v[1]; _mat[3][1] *= v[1];
_mat[0][2] *= v[2]; _mat[1][2] *= v[2]; _mat[2][2] *= v[2]; _mat[3][2] *= v[2];
}
inline void Matrixd::postMultScale( const Vec3f& v )
{
_mat[0][0] *= v[0]; _mat[1][0] *= v[0]; _mat[2][0] *= v[0]; _mat[3][0] *= v[0];
_mat[0][1] *= v[1]; _mat[1][1] *= v[1]; _mat[2][1] *= v[1]; _mat[3][1] *= v[1];
_mat[0][2] *= v[2]; _mat[1][2] *= v[2]; _mat[2][2] *= v[2]; _mat[3][2] *= v[2];
}
inline void Matrixd::preMultRotate( const Quat& q )
{
if (q.zeroRotation())
return;
Matrixd r;
r.setRotate(q);
preMult(r);
}
inline void Matrixd::postMultRotate( const Quat& q )
{
if (q.zeroRotation())
return;
Matrixd r;
r.setRotate(q);
postMult(r);
}
inline Vec3f operator* (const Vec3f& v, const Matrixd& m )
{
return m.preMult(v);
}
inline Vec3d operator* (const Vec3d& v, const Matrixd& m )
{
return m.preMult(v);
}
inline Vec4f operator* (const Vec4f& v, const Matrixd& m )
{
return m.preMult(v);
}
inline Vec4d operator* (const Vec4d& v, const Matrixd& m )
{
return m.preMult(v);
}
inline Vec3f Matrixd::operator* (const Vec3f& v) const
{
return postMult(v);
}
inline Vec3d Matrixd::operator* (const Vec3d& v) const
{
return postMult(v);
}
inline Vec4f Matrixd::operator* (const Vec4f& v) const
{
return postMult(v);
}
inline Vec4d Matrixd::operator* (const Vec4d& v) const
{
return postMult(v);
}
} //namespace osg
#endif
Object
Quat
Vec3d
Vec4d
osg::CopyOp
Definition CopyOp:41
osg::Matrixd
Definition Matrixd:27
osg::Matrixd::makeRotate
void makeRotate(value_type angle, const Vec3d &axis)
osg::Matrixd::Matrixd
Matrixd(value_type a00, value_type a01, value_type a02, value_type a03, value_type a10, value_type a11, value_type a12, value_type a13, value_type a20, value_type a21, value_type a22, value_type a23, value_type a30, value_type a31, value_type a32, value_type a33)
osg::Matrixd::other_value_type
float other_value_type
Definition Matrixd:31
osg::Matrixd::setRotate
void setRotate(const Quat &q)
osg::Matrixd::getScale
Vec3d getScale() const
Definition Matrixd:348
osg::Matrixd::~Matrixd
~Matrixd()
Definition Matrixd:45
osg::Matrixd::transform3x3
static Vec3f transform3x3(const Vec3f &v, const Matrixd &m)
Definition Matrixd:665
osg::Matrixd::ortho2D
static Matrixd ortho2D(double left, double right, double bottom, double top)
Definition Matrixd:559
osg::Matrixd::postMultRotate
void postMultRotate(const Quat &q)
Definition Matrixd:784
osg::Matrixd::isIdentity
bool isIdentity() const
Definition Matrixd:95
osg::Matrixd::makeRotate
void makeRotate(const Vec3d &from, const Vec3d &to)
osg::Matrixd::set
void set(const Matrixd &rhs)
Definition Matrixd:71
osg::Matrixd::setTrans
void setTrans(value_type tx, value_type ty, value_type tz)
osg::Matrixd::makeTranslate
void makeTranslate(value_type, value_type, value_type)
osg::Matrixd::preMultScale
void preMultScale(const Vec3d &v)
Definition Matrixd:747
osg::Matrixd::makeLookAt
void makeLookAt(const Vec3d &eye, const Vec3d &center, const Vec3d &up)
osg::Matrixd::_mat
value_type _mat[4][4]
Definition Matrixd:407
osg::Matrixd::getRotate
Quat getRotate() const
osg::Matrixd::set
void set(value_type a00, value_type a01, value_type a02, value_type a03, value_type a10, value_type a11, value_type a12, value_type a13, value_type a20, value_type a21, value_type a22, value_type a23, value_type a30, value_type a31, value_type a32, value_type a33)
osg::Matrixd::makeRotate
void makeRotate(value_type angle, const Vec3f &axis)
osg::Matrixd::getOrtho
bool getOrtho(float &left, float &right, float &bottom, float &top, float &zNear, float &zFar) const
osg::Matrixd::orthoNormal
static Matrixd orthoNormal(const Matrixd &matrix)
Definition Matrixd:543
osg::Matrixd::setTrans
void setTrans(const Vec3f &v)
osg::Matrixd::postMultScale
void postMultScale(const Vec3d &v)
Definition Matrixd:761
osg::Matrixd::Matrixd
Matrixd(const Matrixd &mat)
Definition Matrixd:34
osg::Matrixd::Matrixd
Matrixd(const Matrixf &mat)
osg::Matrixd::Matrixd
Matrixd()
Definition Matrixd:33
osg::Matrixd::getPerspective
bool getPerspective(double &fovy, double &aspectRatio, double &zNear, double &zFar) const
osg::Matrixd::invert_4x4
bool invert_4x4(const Matrixd &rhs)
osg::Matrixd::frustum
static Matrixd frustum(double left, double right, double bottom, double top, double zNear, double zFar)
Definition Matrixd:567
osg::Matrixd::makeRotate
void makeRotate(const Quat &)
osg::Matrixd::makeScale
void makeScale(const Vec3d &)
osg::Matrixd::makeScale
void makeScale(value_type, value_type, value_type)
osg::Matrixd::ptr
value_type * ptr()
Definition Matrixd:92
osg::Matrixd::transpose
bool transpose(const Matrixd &rhs)
osg::Matrixd::setTrans
void setTrans(const Vec3d &v)
osg::Matrixd::Matrixd
Matrixd(float const *const ptr)
Definition Matrixd:36
osg::Matrixd::lookAt
static Matrixd lookAt(const Vec3f &eye, const Vec3f &center, const Vec3f &up)
Definition Matrixd:584
osg::Matrixd::ortho
static Matrixd ortho(double left, double right, double bottom, double top, double zNear, double zFar)
Definition Matrixd:550
osg::Matrixd::makeFrustum
void makeFrustum(double left, double right, double bottom, double top, double zNear, double zFar)
osg::Matrixd::Matrixd
Matrixd(const Quat &quat)
Definition Matrixd:38
osg::Matrixd::getLookAt
void getLookAt(Vec3d &eye, Vec3d &center, Vec3d &up, value_type lookDistance=1.0f) const
osg::Matrixd::orthoNormalize
void orthoNormalize(const Matrixd &rhs)
osg::Matrixd::Matrixd
Matrixd(double const *const ptr)
Definition Matrixd:37
osg::Matrixd::compare
int compare(const Matrixd &m) const
osg::Matrixd::preMultTranslate
void preMultTranslate(const Vec3d &v)
Definition Matrixd:691
osg::Matrixd::makeRotate
void makeRotate(value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)
osg::Matrixd::ptr
const value_type * ptr() const
Definition Matrixd:93
osg::Matrixd::operator*
Vec3f operator*(const Vec3f &v) const
Definition Matrixd:813
osg::Matrixd::preMult
Vec3f preMult(const Vec3f &v) const
Definition Matrixd:618
osg::Matrixd::makeRotate
void makeRotate(value_type angle, value_type x, value_type y, value_type z)
osg::Matrixd::operator()
value_type operator()(int row, int col) const
Definition Matrixd:54
osg::Matrixd::scale
static Matrixd scale(const Vec3f &sv)
Definition Matrixd:458
osg::Matrixd::valid
bool valid() const
Definition Matrixd:56
osg::Matrixd::perspective
static Matrixd perspective(double fovy, double aspectRatio, double zNear, double zFar)
Definition Matrixd:576
osg::Matrixd::makeTranslate
void makeTranslate(const Vec3f &)
osg::Matrixd::set
void set(float const *const ptr)
Definition Matrixd:75
osg::Matrixd::postMult
void postMult(const Matrixd &)
osg::Matrixd::getTrans
Vec3d getTrans() const
Definition Matrixd:346
osg::Matrixd::makeOrtho
void makeOrtho(double left, double right, double bottom, double top, double zNear, double zFar)
osg::Matrixd::rotate
static Matrixd rotate(const Vec3f &from, const Vec3f &to)
Definition Matrixd:523
osg::Matrixd::makeScale
void makeScale(const Vec3f &)
osg::Matrixd::inverse
static Matrixd inverse(const Matrixd &matrix)
Definition Matrixd:536
osg::Matrixd::postMult
Vec3f postMult(const Vec3f &v) const
Definition Matrixd:602
osg::Matrixd::operator()
value_type & operator()(int row, int col)
Definition Matrixd:53
osg::Matrixd::decompose
void decompose(osg::Vec3d &translation, osg::Quat &rotation, osg::Vec3d &scale, osg::Quat &so) const
osg::Matrixd::set
void set(const Matrixf &rhs)
osg::Matrixd::getLookAt
void getLookAt(Vec3f &eye, Vec3f &center, Vec3f &up, value_type lookDistance=1.0f) const
osg::Matrixd::getOrtho
bool getOrtho(double &left, double &right, double &bottom, double &top, double &zNear, double &zFar) const
osg::Matrixd::makeOrtho2D
void makeOrtho2D(double left, double right, double bottom, double top)
Definition Matrixd:164
osg::Matrixd::invert_4x3
bool invert_4x3(const Matrixd &rhs)
osg::Matrixd::value_type
double value_type
Definition Matrixd:30
osg::Matrixd::preMultRotate
void preMultRotate(const Quat &q)
Definition Matrixd:775
osg::Matrixd::translate
static Matrixd translate(const Vec3f &dv)
Definition Matrixd:475
osg::Matrixd::preMult
void preMult(const Matrixd &)
osg::Matrixd::makeTranslate
void makeTranslate(const Vec3d &)
osg::Matrixd::makeRotate
void makeRotate(value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)
osg::Matrixd::getFrustum
bool getFrustum(double &left, double &right, double &bottom, double &top, double &zNear, double &zFar) const
osg::Matrixd::makePerspective
void makePerspective(double fovy, double aspectRatio, double zNear, double zFar)
osg::Matrixd::postMultTranslate
void postMultTranslate(const Vec3d &v)
Definition Matrixd:719
osg::Matrixd::makeRotate
void makeRotate(const Vec3f &from, const Vec3f &to)
osg::Matrixd::getPerspective
bool getPerspective(float &fovy, float &aspectRatio, float &zNear, float &zFar) const
osg::Matrixd::invert
bool invert(const Matrixd &rhs)
Definition Matrixd:233
osg::Matrixd::identity
static Matrixd identity(void)
Definition Matrixd:444
osg::Matrixd::getFrustum
bool getFrustum(float &left, float &right, float &bottom, float &top, float &zNear, float &zFar) const
osg::Matrixd::decompose
void decompose(osg::Vec3f &translation, osg::Quat &rotation, osg::Vec3f &scale, osg::Quat &so) const
osg::Matrixd::isNaN
bool isNaN() const
Definition Matrixd:57
osg::Matrixd::makeIdentity
void makeIdentity()
osg::Matrixd::mult
void mult(const Matrixd &, const Matrixd &)
osg::Matrixd::set
void set(double const *const ptr)
Definition Matrixd:81
osg::Matrixd::transpose3x3
bool transpose3x3(const Matrixd &rhs)
osg::Matrixf
Definition Matrixf:27
osg::Object::Object
Object()
Definition Object:69
osg::Quat
Definition Quat:30
osg::Quat::zeroRotation
bool zeroRotation() const
Definition Quat:175
osg::RefMatrixd::RefMatrixd
RefMatrixd(Matrixd::value_type a00, Matrixd::value_type a01, Matrixd::value_type a02, Matrixd::value_type a03, Matrixd::value_type a10, Matrixd::value_type a11, Matrixd::value_type a12, Matrixd::value_type a13, Matrixd::value_type a20, Matrixd::value_type a21, Matrixd::value_type a22, Matrixd::value_type a23, Matrixd::value_type a30, Matrixd::value_type a31, Matrixd::value_type a32, Matrixd::value_type a33)
Definition Matrixd:420
osg::RefMatrixd::RefMatrixd
RefMatrixd(const Matrixf &other)
Definition Matrixd:417
osg::RefMatrixd::isSameKindAs
virtual bool isSameKindAs(const Object *obj) const
Definition Matrixd:432
osg::RefMatrixd::RefMatrixd
RefMatrixd(Matrixd::value_type const *const def)
Definition Matrixd:419
osg::RefMatrixd::cloneType
virtual Object * cloneType() const
Definition Matrixd:430
osg::RefMatrixd::RefMatrixd
RefMatrixd(const RefMatrixd &other)
Definition Matrixd:418
osg::RefMatrixd::clone
virtual Object * clone(const CopyOp &) const
Definition Matrixd:431
osg::RefMatrixd::RefMatrixd
RefMatrixd()
Definition Matrixd:415
osg::RefMatrixd::libraryName
virtual const char * libraryName() const
Definition Matrixd:433
osg::RefMatrixd::~RefMatrixd
virtual ~RefMatrixd()
Definition Matrixd:439
osg::RefMatrixd::RefMatrixd
RefMatrixd(const Matrixd &other)
Definition Matrixd:416
osg::RefMatrixd::className
virtual const char * className() const
Definition Matrixd:434
osg::Vec3d
Definition Vec3d:30
osg::Vec3d::z
value_type & z()
Definition Vec3d:87
osg::Vec3d::x
value_type & x()
Definition Vec3d:85
osg::Vec3d::y
value_type & y()
Definition Vec3d:86
osg::Vec3d::length
value_type length() const
Definition Vec3d:181
osg::Vec3f
Definition Vec3f:29
osg::Vec3f::z
value_type & z()
Definition Vec3f:82
osg::Vec3f::y
value_type & y()
Definition Vec3f:81
osg::Vec3f::x
value_type & x()
Definition Vec3f:80
osg::Vec4d
Definition Vec4d:29
osg::Vec4d::x
value_type & x()
Definition Vec4d:90
osg::Vec4d::y
value_type & y()
Definition Vec4d:91
osg::Vec4d::z
value_type & z()
Definition Vec4d:92
osg::Vec4d::w
value_type & w()
Definition Vec4d:93
osg::Vec4f
Definition Vec4f:28
osg::Vec4f::y
value_type & y()
Definition Vec4f:88
osg::Vec4f::x
value_type & x()
Definition Vec4f:87
osg::Vec4f::z
value_type & z()
Definition Vec4f:89
osg::Vec4f::w
value_type & w()
Definition Vec4f:90
osg
Definition AlphaFunc:19
osg::operator*
Vec3f operator*(const Vec3f &v, const Matrixd &m)
Definition Matrixd:793
osg::get
T * get(unsigned int contextID)
Definition ContextData:152
osg::isNaN
bool isNaN(float v)
Definition Math:133
NULL
#define NULL
Definition osg/Export:55
OSG_EXPORT
#define OSG_EXPORT
Definition osg/Export:39