matrix: parameterise on element type
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matrix.cpp
111
matrix.cpp
@ -14,7 +14,7 @@
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* You should have received a copy of the GNU General Public License
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* along with libgim. If not, see <http://www.gnu.org/licenses/>.
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*
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* Copyright 2011-2012 Danny Robson <danny@nerdcruft.net>
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* Copyright 2011-2014 Danny Robson <danny@nerdcruft.net>
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*/
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#include "matrix.hpp"
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@ -26,8 +26,10 @@
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using namespace util;
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//-----------------------------------------------------------------------------
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template <typename T>
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void
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matrix::scale (double x, double y, double z) {
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matrix<T>::scale (T x, T y, T z) {
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CHECK_HARD (is_affine ());
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values[0][0] *= x;
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values[1][1] *= y;
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@ -35,8 +37,10 @@ matrix::scale (double x, double y, double z) {
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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void
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matrix::translate (double x, double y, double z) {
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matrix<T>::translate (T x, T y, T z) {
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CHECK_HARD (is_affine ());
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values[0][3] += x;
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values[1][3] += y;
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@ -44,33 +48,37 @@ matrix::translate (double x, double y, double z) {
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}
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matrix
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matrix::inverse (void) const {
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return matrix(*this).invert ();
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//-----------------------------------------------------------------------------
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template <typename T>
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matrix<T>
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matrix<T>::inverse (void) const {
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return matrix<T>(*this).invert ();
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}
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matrix&
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matrix::invert (void) {
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//-----------------------------------------------------------------------------
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template <typename T>
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matrix<T>&
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matrix<T>::invert (void) {
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CHECK_HARD (is_affine ());
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// inv ([ M b ] == [ inv(M) -inv(M).b ]
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// [ 0 1 ]) [ 0 1
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// Invert the 3x3 M
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double A = (values[1][1] * values[2][2] - values[1][2] * values[2][1]);
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double B = (values[1][2] * values[2][0] - values[1][0] * values[2][2]);
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double C = (values[1][0] * values[2][1] - values[1][1] * values[2][0]);
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T A = (values[1][1] * values[2][2] - values[1][2] * values[2][1]);
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T B = (values[1][2] * values[2][0] - values[1][0] * values[2][2]);
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T C = (values[1][0] * values[2][1] - values[1][1] * values[2][0]);
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double D = (values[0][2] * values[2][1] - values[0][1] * values[2][2]);
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double E = (values[0][0] * values[2][2] - values[0][2] * values[2][0]);
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double F = (values[2][0] * values[0][1] - values[0][0] * values[2][1]);
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T D = (values[0][2] * values[2][1] - values[0][1] * values[2][2]);
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T E = (values[0][0] * values[2][2] - values[0][2] * values[2][0]);
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T F = (values[2][0] * values[0][1] - values[0][0] * values[2][1]);
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double G = (values[0][1] * values[1][2] - values[0][2] * values[1][1]);
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double H = (values[0][2] * values[1][0] - values[0][0] * values[1][2]);
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double K = (values[0][0] * values[1][1] - values[0][1] * values[1][0]);
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T G = (values[0][1] * values[1][2] - values[0][2] * values[1][1]);
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T H = (values[0][2] * values[1][0] - values[0][0] * values[1][2]);
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T K = (values[0][0] * values[1][1] - values[0][1] * values[1][0]);
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double det = values[0][0] * A + values[0][1] * B + values[0][2] * C;
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T det = values[0][0] * A + values[0][1] * B + values[0][2] * C;
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CHECK_NEQ (det, 0.0);
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values[0][0] = A / det;
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@ -84,9 +92,9 @@ matrix::invert (void) {
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values[2][2] = K / det;
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// Multiply the b
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double b0 = - values[0][0] * values[0][3] - values[0][1] * values[1][3] - values[0][2] * values[2][3];
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double b1 = - values[1][0] * values[0][3] - values[1][1] * values[1][3] - values[1][2] * values[2][3];
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double b2 = - values[2][0] * values[0][3] - values[2][1] * values[1][3] - values[2][2] * values[2][3];
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T b0 = - values[0][0] * values[0][3] - values[0][1] * values[1][3] - values[0][2] * values[2][3];
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T b1 = - values[1][0] * values[0][3] - values[1][1] * values[1][3] - values[1][2] * values[2][3];
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T b2 = - values[2][0] * values[0][3] - values[2][1] * values[1][3] - values[2][2] * values[2][3];
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values[0][3] = b0;
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values[1][3] = b1;
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@ -96,9 +104,11 @@ matrix::invert (void) {
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}
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matrix
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matrix::operator* (const matrix &rhs) const {
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matrix m;
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//-----------------------------------------------------------------------------
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template <typename T>
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matrix<T>
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matrix<T>::operator* (const matrix<T> &rhs) const {
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matrix<T> m;
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memset (m.values, 0, sizeof (m.values));
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for (unsigned i = 0; i < 4; ++i)
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@ -110,8 +120,10 @@ matrix::operator* (const matrix &rhs) const {
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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util::point<3>
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matrix::to_local (const util::point<3> &p) const {
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matrix<T>::to_local (const util::point<3> &p) const {
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CHECK_SOFT (is_affine ());
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return { p.x * values[0][0] +
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@ -126,38 +138,51 @@ matrix::to_local (const util::point<3> &p) const {
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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util::point<3>
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matrix::to_global (const util::point<3> &p) const {
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matrix<T>::to_global (const util::point<3> &p) const {
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return inverse ().to_local (p);
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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bool
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matrix::is_affine (void) const {
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return exactly_equal (values[3][0], 0.0) &&
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exactly_equal (values[3][1], 0.0) &&
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exactly_equal (values[3][2], 0.0) &&
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exactly_equal (values[3][3], 1.0);
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matrix<T>::is_affine (void) const {
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return exactly_equal (values[3][0], static_cast<T> (0)) &&
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exactly_equal (values[3][1], static_cast<T> (0)) &&
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exactly_equal (values[3][2], static_cast<T> (0)) &&
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exactly_equal (values[3][3], static_cast<T> (1));
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}
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const matrix
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matrix::IDENTITY = { { { 1.0, 0.0, 0.0, 0.0 },
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{ 0.0, 1.0, 0.0, 0.0 },
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{ 0.0, 0.0, 1.0, 0.0 },
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{ 0.0, 0.0, 0.0, 1.0 } } };
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//-----------------------------------------------------------------------------
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template <typename T>
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const matrix<T>
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matrix<T>::IDENTITY = { { { 1, 0, 0, 0 },
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{ 0, 1, 0, 0 },
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{ 0, 0, 1, 0 },
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{ 0, 0, 0, 1 } } };
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const matrix
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matrix::ZEROES = { { { 0.0, 0.0, 0.0, 0.0 },
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{ 0.0, 0.0, 0.0, 0.0 },
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{ 0.0, 0.0, 0.0, 0.0 },
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{ 0.0, 0.0, 0.0, 0.0 } } };
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template <typename T>
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const matrix<T>
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matrix<T>::ZEROES = { { { 0, 0, 0, 0 },
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{ 0, 0, 0, 0 },
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{ 0, 0, 0, 0 },
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{ 0, 0, 0, 0 } } };
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//-----------------------------------------------------------------------------
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template struct matrix<float>;
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template struct matrix<double>;
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//-----------------------------------------------------------------------------
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template <typename T>
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std::ostream&
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operator<< (std::ostream &os, const matrix &m) {
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operator<< (std::ostream &os, const matrix<T> &m) {
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os << "{ {" << m.values[0][0] << ", "
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<< m.values[0][1] << ", "
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<< m.values[0][2] << ", "
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22
matrix.hpp
22
matrix.hpp
@ -14,7 +14,7 @@
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* You should have received a copy of the GNU General Public License
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* along with libgim. If not, see <http://www.gnu.org/licenses/>.
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*
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* Copyright 2011-2012 Danny Robson <danny@nerdcruft.net>
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* Copyright 2011-2014 Danny Robson <danny@nerdcruft.net>
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*/
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#ifndef __UTIL_MATRIX_HPP
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@ -25,27 +25,29 @@
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#include <iostream>
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namespace util {
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template <typename T>
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struct matrix {
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double values[4][4];
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T values[4][4];
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void scale (double x, double y, double z);
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void translate (double x, double y, double z);
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void scale (T x, T y, T z);
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void translate (T x, T y, T z);
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matrix inverse (void) const;
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matrix& invert (void);
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matrix<T> inverse (void) const;
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matrix<T>& invert (void);
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matrix operator* (const matrix&) const;
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matrix<T> operator* (const matrix<T>&) const;
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point<3> to_local (const point<3> &p) const;
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point<3> to_global (const point<3> &p) const;
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bool is_affine (void) const;
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static const matrix IDENTITY;
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static const matrix ZEROES;
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static const matrix<T> IDENTITY;
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static const matrix<T> ZEROES;
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};
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}
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std::ostream& operator<< (std::ostream&, const util::matrix&);
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template <typename T>
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std::ostream& operator<< (std::ostream&, const util::matrix<T>&);
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#endif
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