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-/*
----------------------------------------------------------------------------
-Open Asset Import Library (assimp)
----------------------------------------------------------------------------
-
-Copyright (c) 2006-2017, 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
-
-#include "vector3.h"
-#include "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 ();
-
- /** 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);
-
-public:
-
- // 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 = 1e-6) 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;
-
-public:
-
- // -------------------------------------------------------------------
- /** @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);
-
-public:
- // -------------------------------------------------------------------
- /** @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);
-
-public:
- 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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