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42
43/** @file matrix3x3.h
44 * @brief Definition of a 3x3 matrix, including operators when compiling in C++
45 */
46#pragma once
47#ifndef AI_MATRIX3X3_H_INC
48#define AI_MATRIX3X3_H_INC
49
50#include "defs.h"
51
52#ifdef __cplusplus
53
54template <typename T> class aiMatrix4x4t;
55template <typename T> class aiVector2t;
56
57// ---------------------------------------------------------------------------
58/** @brief Represents a row-major 3x3 matrix
59 *
60 * There's much confusion about matrix layouts (column vs. row order).
61 * This is *always* a row-major matrix. Not even with the
62 * #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect
63 * matrix order - it just affects the handedness of the coordinate system
64 * defined thereby.
65 */
66template <typename TReal>
67class aiMatrix3x3t
68{
69public:
70
71 aiMatrix3x3t () :
72 a1(static_cast<TReal>(1.0f)), a2(), a3(),
73 b1(), b2(static_cast<TReal>(1.0f)), b3(),
74 c1(), c2(), c3(static_cast<TReal>(1.0f)) {}
75
76 aiMatrix3x3t ( TReal _a1, TReal _a2, TReal _a3,
77 TReal _b1, TReal _b2, TReal _b3,
78 TReal _c1, TReal _c2, TReal _c3) :
79 a1(_a1), a2(_a2), a3(_a3),
80 b1(_b1), b2(_b2), b3(_b3),
81 c1(_c1), c2(_c2), c3(_c3)
82 {}
83
84public:
85
86 // matrix multiplication.
87 aiMatrix3x3t& operator *= (const aiMatrix3x3t& m);
88 aiMatrix3x3t operator * (const aiMatrix3x3t& m) const;
89
90 // array access operators
91 TReal* operator[] (unsigned int p_iIndex);
92 const TReal* operator[] (unsigned int p_iIndex) const;
93
94 // comparison operators
95 bool operator== (const aiMatrix4x4t<TReal>& m) const;
96 bool operator!= (const aiMatrix4x4t<TReal>& m) const;
97
98 bool Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon = 1e-6) const;
99
100 template <typename TOther>
101 operator aiMatrix3x3t<TOther> () const;
102
103public:
104
105 // -------------------------------------------------------------------
106 /** @brief Construction from a 4x4 matrix. The remaining parts
107 * of the matrix are ignored.
108 */
109 explicit aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix);
110
111 // -------------------------------------------------------------------
112 /** @brief Transpose the matrix
113 */
114 aiMatrix3x3t& Transpose();
115
116 // -------------------------------------------------------------------
117 /** @brief Invert the matrix.
118 * If the matrix is not invertible all elements are set to qnan.
119 * Beware, use (f != f) to check whether a TReal f is qnan.
120 */
121 aiMatrix3x3t& Inverse();
122 TReal Determinant() const;
123
124public:
125 // -------------------------------------------------------------------
126 /** @brief Returns a rotation matrix for a rotation around z
127 * @param a Rotation angle, in radians
128 * @param out Receives the output matrix
129 * @return Reference to the output matrix
130 */
131 static aiMatrix3x3t& RotationZ(TReal a, aiMatrix3x3t& out);
132
133 // -------------------------------------------------------------------
134 /** @brief Returns a rotation matrix for a rotation around
135 * an arbitrary axis.
136 *
137 * @param a Rotation angle, in radians
138 * @param axis Axis to rotate around
139 * @param out To be filled
140 */
141 static aiMatrix3x3t& Rotation( TReal a,
142 const aiVector3t<TReal>& axis, aiMatrix3x3t& out);
143
144 // -------------------------------------------------------------------
145 /** @brief Returns a translation matrix
146 * @param v Translation vector
147 * @param out Receives the output matrix
148 * @return Reference to the output matrix
149 */
150 static aiMatrix3x3t& Translation( const aiVector2t<TReal>& v, aiMatrix3x3t& out);
151
152 // -------------------------------------------------------------------
153 /** @brief A function for creating a rotation matrix that rotates a
154 * vector called "from" into another vector called "to".
155 * Input : from[3], to[3] which both must be *normalized* non-zero vectors
156 * Output: mtx[3][3] -- a 3x3 matrix in column-major form
157 * Authors: Tomas Möller, John Hughes
158 * "Efficiently Building a Matrix to Rotate One Vector to Another"
159 * Journal of Graphics Tools, 4(4):1-4, 1999
160 */
161 static aiMatrix3x3t& FromToMatrix(const aiVector3t<TReal>& from,
162 const aiVector3t<TReal>& to, aiMatrix3x3t& out);
163
164public:
165 TReal a1, a2, a3;
166 TReal b1, b2, b3;
167 TReal c1, c2, c3;
168};
169
170typedef aiMatrix3x3t<ai_real> aiMatrix3x3;
171
172#else
173
174struct aiMatrix3x3 {
175 ai_real a1, a2, a3;
176 ai_real b1, b2, b3;
177 ai_real c1, c2, c3;
178};
179
180#endif // __cplusplus
181
182#endif // AI_MATRIX3X3_H_INC
183