diff options
Diffstat (limited to 'src/3rdparty/assimp/include/assimp/matrix3x3.inl')
| -rw-r--r-- | src/3rdparty/assimp/include/assimp/matrix3x3.inl | 338 |
1 files changed, 171 insertions, 167 deletions
diff --git a/src/3rdparty/assimp/include/assimp/matrix3x3.inl b/src/3rdparty/assimp/include/assimp/matrix3x3.inl index dcced7bab..9ace3f97b 100644 --- a/src/3rdparty/assimp/include/assimp/matrix3x3.inl +++ b/src/3rdparty/assimp/include/assimp/matrix3x3.inl @@ -3,12 +3,12 @@ Open Asset Import Library (assimp) --------------------------------------------------------------------------- -Copyright (c) 2006-2012, assimp team +Copyright (c) 2006-2016, 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 +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 @@ -25,21 +25,21 @@ conditions are met: 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 +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 +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 +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 +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 aiMatrix3x3.inl +/** @file matrix3x3.inl * @brief Inline implementation of the 3x3 matrix operators */ #ifndef AI_MATRIX3x3_INL_INC @@ -58,25 +58,25 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. template <typename TReal> inline aiMatrix3x3t<TReal>::aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix) { - a1 = pMatrix.a1; a2 = pMatrix.a2; a3 = pMatrix.a3; - b1 = pMatrix.b1; b2 = pMatrix.b2; b3 = pMatrix.b3; - c1 = pMatrix.c1; c2 = pMatrix.c2; c3 = pMatrix.c3; + a1 = pMatrix.a1; a2 = pMatrix.a2; a3 = pMatrix.a3; + b1 = pMatrix.b1; b2 = pMatrix.b2; b3 = pMatrix.b3; + c1 = pMatrix.c1; c2 = pMatrix.c2; c3 = pMatrix.c3; } // ------------------------------------------------------------------------------------------------ template <typename TReal> inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::operator *= (const aiMatrix3x3t<TReal>& m) { - *this = aiMatrix3x3t<TReal>(m.a1 * a1 + m.b1 * a2 + m.c1 * a3, - m.a2 * a1 + m.b2 * a2 + m.c2 * a3, - m.a3 * a1 + m.b3 * a2 + m.c3 * a3, - m.a1 * b1 + m.b1 * b2 + m.c1 * b3, - m.a2 * b1 + m.b2 * b2 + m.c2 * b3, - m.a3 * b1 + m.b3 * b2 + m.c3 * b3, - m.a1 * c1 + m.b1 * c2 + m.c1 * c3, - m.a2 * c1 + m.b2 * c2 + m.c2 * c3, - m.a3 * c1 + m.b3 * c2 + m.c3 * c3); - return *this; + *this = aiMatrix3x3t<TReal>(m.a1 * a1 + m.b1 * a2 + m.c1 * a3, + m.a2 * a1 + m.b2 * a2 + m.c2 * a3, + m.a3 * a1 + m.b3 * a2 + m.c3 * a3, + m.a1 * b1 + m.b1 * b2 + m.c1 * b3, + m.a2 * b1 + m.b2 * b2 + m.c2 * b3, + m.a3 * b1 + m.b3 * b2 + m.c3 * b3, + m.a1 * c1 + m.b1 * c2 + m.c1 * c3, + m.a2 * c1 + m.b2 * c2 + m.c2 * c3, + m.a3 * c1 + m.b3 * c2 + m.c3 * c3); + return *this; } // ------------------------------------------------------------------------------------------------ @@ -84,116 +84,116 @@ template <typename TReal> template <typename TOther> aiMatrix3x3t<TReal>::operator aiMatrix3x3t<TOther> () const { - return aiMatrix3x3t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3), - static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3), - static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3)); + return aiMatrix3x3t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3), + static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3), + static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3)); } // ------------------------------------------------------------------------------------------------ template <typename TReal> inline aiMatrix3x3t<TReal> aiMatrix3x3t<TReal>::operator* (const aiMatrix3x3t<TReal>& m) const { - aiMatrix3x3t<TReal> temp( *this); - temp *= m; - return temp; + aiMatrix3x3t<TReal> temp( *this); + temp *= m; + return temp; } // ------------------------------------------------------------------------------------------------ template <typename TReal> inline TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) { - return &this->a1 + p_iIndex * 3; + return &this->a1 + p_iIndex * 3; } // ------------------------------------------------------------------------------------------------ template <typename TReal> inline const TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) const { - return &this->a1 + p_iIndex * 3; + return &this->a1 + p_iIndex * 3; } // ------------------------------------------------------------------------------------------------ template <typename TReal> inline bool aiMatrix3x3t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const { - return a1 == m.a1 && a2 == m.a2 && a3 == m.a3 && - b1 == m.b1 && b2 == m.b2 && b3 == m.b3 && - c1 == m.c1 && c2 == m.c2 && c3 == m.c3; + return a1 == m.a1 && a2 == m.a2 && a3 == m.a3 && + b1 == m.b1 && b2 == m.b2 && b3 == m.b3 && + c1 == m.c1 && c2 == m.c2 && c3 == m.c3; } // ------------------------------------------------------------------------------------------------ template <typename TReal> inline bool aiMatrix3x3t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const { - return !(*this == m); + return !(*this == m); } // --------------------------------------------------------------------------- template<typename TReal> inline bool aiMatrix3x3t<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(b1 - m.b1) <= epsilon && - std::abs(b2 - m.b2) <= epsilon && - std::abs(b3 - m.b3) <= epsilon && - std::abs(c1 - m.c1) <= epsilon && - std::abs(c2 - m.c2) <= epsilon && - std::abs(c3 - m.c3) <= epsilon; + return + std::abs(a1 - m.a1) <= epsilon && + std::abs(a2 - m.a2) <= epsilon && + std::abs(a3 - m.a3) <= epsilon && + std::abs(b1 - m.b1) <= epsilon && + std::abs(b2 - m.b2) <= epsilon && + std::abs(b3 - m.b3) <= epsilon && + std::abs(c1 - m.c1) <= epsilon && + std::abs(c2 - m.c2) <= epsilon && + std::abs(c3 - m.c3) <= epsilon; } // ------------------------------------------------------------------------------------------------ template <typename TReal> inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Transpose() { - // (TReal&) don't remove, GCC complains cause of packed fields - std::swap( (TReal&)a2, (TReal&)b1); - std::swap( (TReal&)a3, (TReal&)c1); - std::swap( (TReal&)b3, (TReal&)c2); - return *this; + // (TReal&) don't remove, GCC complains cause of packed fields + std::swap( (TReal&)a2, (TReal&)b1); + std::swap( (TReal&)a3, (TReal&)c1); + std::swap( (TReal&)b3, (TReal&)c2); + return *this; } // ---------------------------------------------------------------------------------------- template <typename TReal> inline TReal aiMatrix3x3t<TReal>::Determinant() const { - return a1*b2*c3 - a1*b3*c2 + a2*b3*c1 - a2*b1*c3 + a3*b1*c2 - a3*b2*c1; + return a1*b2*c3 - a1*b3*c2 + a2*b3*c1 - a2*b1*c3 + a3*b1*c2 - a3*b2*c1; } // ---------------------------------------------------------------------------------------- template <typename TReal> inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Inverse() { - // Compute the reciprocal determinant - 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 at least qnans are easy to - // spot. XXX we might throw an exception instead, which would - // be even much better to spot :/. - const TReal nan = std::numeric_limits<TReal>::quiet_NaN(); - *this = aiMatrix3x3t<TReal>( nan,nan,nan,nan,nan,nan,nan,nan,nan); - - return *this; - } - - TReal invdet = static_cast<TReal>(1.0) / det; - - aiMatrix3x3t<TReal> res; - res.a1 = invdet * (b2 * c3 - b3 * c2); - res.a2 = -invdet * (a2 * c3 - a3 * c2); - res.a3 = invdet * (a2 * b3 - a3 * b2); - res.b1 = -invdet * (b1 * c3 - b3 * c1); - res.b2 = invdet * (a1 * c3 - a3 * c1); - res.b3 = -invdet * (a1 * b3 - a3 * b1); - res.c1 = invdet * (b1 * c2 - b2 * c1); - res.c2 = -invdet * (a1 * c2 - a2 * c1); - res.c3 = invdet * (a1 * b2 - a2 * b1); - *this = res; - - return *this; + // Compute the reciprocal determinant + 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 at least qnans are easy to + // spot. XXX we might throw an exception instead, which would + // be even much better to spot :/. + const TReal nan = std::numeric_limits<TReal>::quiet_NaN(); + *this = aiMatrix3x3t<TReal>( nan,nan,nan,nan,nan,nan,nan,nan,nan); + + return *this; + } + + TReal invdet = static_cast<TReal>(1.0) / det; + + aiMatrix3x3t<TReal> res; + res.a1 = invdet * (b2 * c3 - b3 * c2); + res.a2 = -invdet * (a2 * c3 - a3 * c2); + res.a3 = invdet * (a2 * b3 - a3 * b2); + res.b1 = -invdet * (b1 * c3 - b3 * c1); + res.b2 = invdet * (a1 * c3 - a3 * c1); + res.b3 = -invdet * (a1 * b3 - a3 * b1); + res.c1 = invdet * (b1 * c2 - b2 * c1); + res.c2 = -invdet * (a1 * c2 - a2 * c1); + res.c3 = invdet * (a1 * b2 - a2 * b1); + *this = res; + + return *this; } // ------------------------------------------------------------------------------------------------ @@ -202,12 +202,12 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::RotationZ(TReal a, aiMatrix3x3t { out.a1 = out.b2 = std::cos(a); out.b1 = std::sin(a); - out.a2 = - out.b1; + out.a2 = - out.b1; - out.a3 = out.b3 = out.c1 = out.c2 = 0.f; - out.c3 = 1.f; + out.a3 = out.b3 = out.c1 = out.c2 = 0.f; + out.c3 = 1.f; - return out; + return out; } // ------------------------------------------------------------------------------------------------ @@ -230,10 +230,10 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Rotation( TReal a, const aiVect template <typename TReal> inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Translation( const aiVector2t<TReal>& v, aiMatrix3x3t<TReal>& out) { - out = aiMatrix3x3t<TReal>(); - out.a3 = v.x; - out.b3 = v.y; - return out; + out = aiMatrix3x3t<TReal>(); + out.a3 = v.x; + out.b3 = v.y; + return out; } // ---------------------------------------------------------------------------------------- @@ -241,90 +241,94 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Translation( const aiVector2t<T * "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 + * Authors: Tomas M�ller, John Hughes * "Efficiently Building a Matrix to Rotate One Vector to Another" * Journal of Graphics Tools, 4(4):1-4, 1999 */ // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::FromToMatrix(const aiVector3t<TReal>& from, - const aiVector3t<TReal>& to, aiMatrix3x3t<TReal>& mtx) +inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::FromToMatrix(const aiVector3t<TReal>& from, + const aiVector3t<TReal>& to, aiMatrix3x3t<TReal>& mtx) { - const TReal e = from * to; - const TReal f = (e < 0)? -e:e; - - if (f > static_cast<TReal>(1.0) - static_cast<TReal>(0.00001)) /* "from" and "to"-vector almost parallel */ - { - aiVector3D u,v; /* temporary storage vectors */ - aiVector3D x; /* vector most nearly orthogonal to "from" */ - - x.x = (from.x > 0.0)? from.x : -from.x; - x.y = (from.y > 0.0)? from.y : -from.y; - x.z = (from.z > 0.0)? from.z : -from.z; - - if (x.x < x.y) - { - if (x.x < x.z) - { - x.x = static_cast<TReal>(1.0); x.y = x.z = static_cast<TReal>(0.0); - } - else - { - x.z = static_cast<TReal>(1.0); x.y = x.z = static_cast<TReal>(0.0); - } - } - else - { - if (x.y < x.z) - { - x.y = static_cast<TReal>(1.0); x.x = x.z = static_cast<TReal>(0.0); - } - else - { - x.z = static_cast<TReal>(1.0); x.x = x.y = static_cast<TReal>(0.0); - } - } - - u.x = x.x - from.x; u.y = x.y - from.y; u.z = x.z - from.z; - v.x = x.x - to.x; v.y = x.y - to.y; v.z = x.z - to.z; - - const TReal c1 = static_cast<TReal>(2.0) / (u * u); - const TReal c2 = static_cast<TReal>(2.0) / (v * v); - const TReal c3 = c1 * c2 * (u * v); - - for (unsigned int i = 0; i < 3; i++) - { - for (unsigned int j = 0; j < 3; j++) - { - mtx[i][j] = - c1 * u[i] * u[j] - c2 * v[i] * v[j] - + c3 * v[i] * u[j]; - } - mtx[i][i] += static_cast<TReal>(1.0); - } - } - else /* the most common case, unless "from"="to", or "from"=-"to" */ - { - const aiVector3D v = from ^ to; - /* ... use this hand optimized version (9 mults less) */ - const TReal h = static_cast<TReal>(1.0)/(static_cast<TReal>(1.0) + e); /* optimization by Gottfried Chen */ - const TReal hvx = h * v.x; - const TReal hvz = h * v.z; - const TReal hvxy = hvx * v.y; - const TReal hvxz = hvx * v.z; - const TReal hvyz = hvz * v.y; - mtx[0][0] = e + hvx * v.x; - mtx[0][1] = hvxy - v.z; - mtx[0][2] = hvxz + v.y; - - mtx[1][0] = hvxy + v.z; - mtx[1][1] = e + h * v.y * v.y; - mtx[1][2] = hvyz - v.x; - - mtx[2][0] = hvxz - v.y; - mtx[2][1] = hvyz + v.x; - mtx[2][2] = e + hvz * v.z; - } - return mtx; + const TReal e = from * to; + const TReal f = (e < 0)? -e:e; + + if (f > static_cast<TReal>(1.0) - static_cast<TReal>(0.00001)) /* "from" and "to"-vector almost parallel */ + { + aiVector3D u,v; /* temporary storage vectors */ + aiVector3D x; /* vector most nearly orthogonal to "from" */ + + x.x = (from.x > 0.0)? from.x : -from.x; + x.y = (from.y > 0.0)? from.y : -from.y; + x.z = (from.z > 0.0)? from.z : -from.z; + + if (x.x < x.y) + { + if (x.x < x.z) + { + x.x = static_cast<TReal>(1.0); + x.y = x.z = static_cast<TReal>(0.0); + } + else + { + x.z = static_cast<TReal>(1.0); + x.x = x.y = static_cast<TReal>(0.0); + } + } + else + { + if (x.y < x.z) + { + x.y = static_cast<TReal>(1.0); + x.x = x.z = static_cast<TReal>(0.0); + } + else + { + x.z = static_cast<TReal>(1.0); + x.x = x.y = static_cast<TReal>(0.0); + } + } + + u.x = x.x - from.x; u.y = x.y - from.y; u.z = x.z - from.z; + v.x = x.x - to.x; v.y = x.y - to.y; v.z = x.z - to.z; + + const TReal c1 = static_cast<TReal>(2.0) / (u * u); + const TReal c2 = static_cast<TReal>(2.0) / (v * v); + const TReal c3 = c1 * c2 * (u * v); + + for (unsigned int i = 0; i < 3; i++) + { + for (unsigned int j = 0; j < 3; j++) + { + mtx[i][j] = - c1 * u[i] * u[j] - c2 * v[i] * v[j] + + c3 * v[i] * u[j]; + } + mtx[i][i] += static_cast<TReal>(1.0); + } + } + else /* the most common case, unless "from"="to", or "from"=-"to" */ + { + const aiVector3D v = from ^ to; + /* ... use this hand optimized version (9 mults less) */ + const TReal h = static_cast<TReal>(1.0)/(static_cast<TReal>(1.0) + e); /* optimization by Gottfried Chen */ + const TReal hvx = h * v.x; + const TReal hvz = h * v.z; + const TReal hvxy = hvx * v.y; + const TReal hvxz = hvx * v.z; + const TReal hvyz = hvz * v.y; + mtx[0][0] = e + hvx * v.x; + mtx[0][1] = hvxy - v.z; + mtx[0][2] = hvxz + v.y; + + mtx[1][0] = hvxy + v.z; + mtx[1][1] = e + h * v.y * v.y; + mtx[1][2] = hvyz - v.x; + + mtx[2][0] = hvxz - v.y; + mtx[2][1] = hvyz + v.x; + mtx[2][2] = e + hvz * v.z; + } + return mtx; } |