diff options
Diffstat (limited to 'src/3rdparty/assimp/include/assimp/matrix4x4.h')
-rw-r--r-- | src/3rdparty/assimp/include/assimp/matrix4x4.h | 329 |
1 files changed, 164 insertions, 165 deletions
diff --git a/src/3rdparty/assimp/include/assimp/matrix4x4.h b/src/3rdparty/assimp/include/assimp/matrix4x4.h index 6ed550b7b..fc77b6964 100644 --- a/src/3rdparty/assimp/include/assimp/matrix4x4.h +++ b/src/3rdparty/assimp/include/assimp/matrix4x4.h @@ -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 @@ -25,16 +25,16 @@ 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. --------------------------------------------------------------------------- */ @@ -44,6 +44,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_MATRIX4X4_H_INC #define AI_MATRIX4X4_H_INC +#include "vector3.h" #include "./Compiler/pushpack1.h" #ifdef __cplusplus @@ -55,7 +56,7 @@ 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). + * 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 @@ -65,180 +66,178 @@ 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); + + /** 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 - TReal* operator[] (unsigned int p_iIndex); - const TReal* operator[] (unsigned int p_iIndex) const; + // array access operators + 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; + // comparison operators + bool operator== (const aiMatrix4x4t& m) const; + bool operator!= (const aiMatrix4x4t& m) const; - bool Equal(const aiMatrix4x4t& m, TReal epsilon = 1e-6) const; + bool Equal(const aiMatrix4x4t& m, TReal epsilon = 1e-6) const; - // matrix multiplication. - aiMatrix4x4t& operator *= (const aiMatrix4x4t& m); - aiMatrix4x4t operator * (const aiMatrix4x4t& m) const; + // matrix multiplication. + aiMatrix4x4t& operator *= (const aiMatrix4x4t& m); + aiMatrix4x4t operator * (const aiMatrix4x4t& m) const; - template <typename TOther> - operator aiMatrix4x4t<TOther> () 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; - - // ------------------------------------------------------------------- - /** @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); + // ------------------------------------------------------------------- + /** @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; + + // ------------------------------------------------------------------- + /** @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 colum-major form - * Authors: Tomas Möller, 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); + // ------------------------------------------------------------------- + /** @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; - -} PACK_STRUCT; + TReal a1, a2, a3, a4; + TReal b1, b2, b3, b4; + TReal c1, c2, c3, c4; + TReal d1, d2, d3, d4; +} PACK_STRUCT; typedef aiMatrix4x4t<float> aiMatrix4x4; #else struct aiMatrix4x4 { - float a1, a2, a3, a4; - float b1, b2, b3, b4; - float c1, c2, c3, c4; - float d1, d2, d3, d4; -}; + float a1, a2, a3, a4; + float b1, b2, b3, b4; + float c1, c2, c3, c4; + float d1, d2, d3, d4; +} PACK_STRUCT; #endif // __cplusplus |