mirror of
https://github.com/panda3d/panda3d.git
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219 lines
8.6 KiB
C++
219 lines
8.6 KiB
C++
// Filename: lmatrix4_src.h
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// Created by: drose (15Jan99)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) 2001, Disney Enterprises, Inc. All rights reserved
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//
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// All use of this software is subject to the terms of the Panda 3d
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// Software license. You should have received a copy of this license
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// along with this source code; you will also find a current copy of
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// the license at http://www.panda3d.org/license.txt .
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//
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// To contact the maintainers of this program write to
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// panda3d@yahoogroups.com .
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//
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////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////
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// Class : LMatrix4
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// Description : This is a 4-by-4 transform matrix.
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////////////////////////////////////////////////////////////////////
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class EXPCL_PANDA FLOATNAME(LMatrix4) {
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PUBLISHED:
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typedef const FLOATTYPE *iterator;
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typedef const FLOATTYPE *const_iterator;
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INLINE_LINMATH FLOATNAME(LMatrix4)();
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INLINE_LINMATH FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator = (const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator = (FLOATTYPE fill_value);
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INLINE_LINMATH FLOATNAME(LMatrix4)(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e03,
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FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e13,
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FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22, FLOATTYPE e23,
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FLOATTYPE e30, FLOATTYPE e31, FLOATTYPE e32, FLOATTYPE e33);
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// Construct a 4x4 matrix given a 3x3 rotation matrix and an optional
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// translation component.
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INLINE_LINMATH FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix3) &upper3);
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INLINE_LINMATH FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix3) &upper3,const FLOATNAME(LVecBase3) &trans);
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INLINE_LINMATH void fill(FLOATTYPE fill_value);
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INLINE_LINMATH void set(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e03,
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FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e13,
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FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22, FLOATTYPE e23,
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FLOATTYPE e30, FLOATTYPE e31, FLOATTYPE e32, FLOATTYPE e33);
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// Get and set the upper 3x3 rotation matrix.
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INLINE_LINMATH void set_upper_3(const FLOATNAME(LMatrix3) &upper3);
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INLINE_LINMATH FLOATNAME(LMatrix3) get_upper_3() const;
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INLINE_LINMATH void set_row(int row, const FLOATNAME(LVecBase4) &v);
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INLINE_LINMATH void set_col(int col, const FLOATNAME(LVecBase4) &v);
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INLINE_LINMATH void set_row(int row, const FLOATNAME(LVecBase3) &v);
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INLINE_LINMATH void set_col(int col, const FLOATNAME(LVecBase3) &v);
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INLINE_LINMATH FLOATNAME(LVecBase4) get_row(int row) const;
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INLINE_LINMATH FLOATNAME(LVecBase4) get_col(int col) const;
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INLINE_LINMATH FLOATNAME(LVecBase3) get_row3(int row) const;
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// these versions inline better
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INLINE_LINMATH void get_row(FLOATNAME(LVecBase4) &result_vec, int row) const;
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INLINE_LINMATH void get_row3(FLOATNAME(LVecBase3) &result_vec, int row) const;
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INLINE_LINMATH FLOATNAME(LVecBase3) get_col3(int col) const;
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INLINE_LINMATH FLOATTYPE &operator () (int row, int col);
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INLINE_LINMATH FLOATTYPE operator () (int row, int col) const;
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INLINE_LINMATH bool is_nan() const;
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INLINE_LINMATH FLOATTYPE get_cell(int row, int col) const;
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INLINE_LINMATH void set_cell(int row, int col, FLOATTYPE value);
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INLINE_LINMATH const FLOATTYPE *get_data() const;
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INLINE_LINMATH int get_num_components() const;
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INLINE_LINMATH iterator begin();
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INLINE_LINMATH iterator end();
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INLINE_LINMATH const_iterator begin() const;
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INLINE_LINMATH const_iterator end() const;
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INLINE_LINMATH bool operator < (const FLOATNAME(LMatrix4) &other) const;
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INLINE_LINMATH bool operator == (const FLOATNAME(LMatrix4) &other) const;
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INLINE_LINMATH bool operator != (const FLOATNAME(LMatrix4) &other) const;
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INLINE_LINMATH int compare_to(const FLOATNAME(LMatrix4) &other) const;
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int compare_to(const FLOATNAME(LMatrix4) &other, FLOATTYPE threshold) const;
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INLINE_LINMATH FLOATNAME(LVecBase4)
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xform(const FLOATNAME(LVecBase4) &v) const;
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INLINE_LINMATH FLOATNAME(LVecBase3)
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xform_point(const FLOATNAME(LVecBase3) &v) const;
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INLINE_LINMATH FLOATNAME(LVecBase3)
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xform_vec(const FLOATNAME(LVecBase3) &v) const;
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// this = other1 * other2
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INLINE_LINMATH void multiply(const FLOATNAME(LMatrix4) &other1, const FLOATNAME(LMatrix4) &other2);
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// this = scale_mat(scale_vector) * other_mat, efficiently
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INLINE_LINMATH void scale_multiply(const FLOATNAME(LVecBase3) &scale_vector,const FLOATNAME(LMatrix4) &other_mat);
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INLINE_LINMATH FLOATNAME(LMatrix4) operator * (const FLOATNAME(LMatrix4) &other) const;
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INLINE_LINMATH FLOATNAME(LMatrix4) operator * (FLOATTYPE scalar) const;
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INLINE_LINMATH FLOATNAME(LMatrix4) operator / (FLOATTYPE scalar) const;
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator += (const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator -= (const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator *= (const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator *= (FLOATTYPE scalar);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator /= (FLOATTYPE scalar);
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INLINE_LINMATH void transpose_from(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH void transpose_in_place();
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INLINE_LINMATH bool invert_from(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH bool invert_affine_from(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH bool invert_in_place();
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INLINE_LINMATH static const FLOATNAME(LMatrix4) &ident_mat();
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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translate_mat(const FLOATNAME(LVecBase3) &trans);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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translate_mat(FLOATTYPE tx, FLOATTYPE ty, FLOATTYPE tz);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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rotate_mat(FLOATTYPE angle,
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FLOATNAME(LVecBase3) axis,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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rotate_mat_normaxis(FLOATTYPE angle,
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const FLOATNAME(LVecBase3) &axis,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH static void
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rotate_mat_normaxis(FLOATTYPE angle,
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const FLOATNAME(LVecBase3) &axis,
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FLOATNAME(LMatrix4) &result_mat,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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scale_mat(const FLOATNAME(LVecBase3) &scale);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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scale_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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scale_mat(FLOATTYPE scale);
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INLINE_LINMATH static const FLOATNAME(LMatrix4) &y_to_z_up_mat();
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INLINE_LINMATH static const FLOATNAME(LMatrix4) &z_to_y_up_mat();
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static FLOATNAME(LMatrix4) convert_mat(CoordinateSystem from,
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CoordinateSystem to);
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bool almost_equal(const FLOATNAME(LMatrix4) &other,
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FLOATTYPE threshold) const;
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INLINE_LINMATH bool almost_equal(const FLOATNAME(LMatrix4) &other) const;
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void output(ostream &out) const;
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void write(ostream &out, int indent_level = 0) const;
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public:
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INLINE_LINMATH void generate_hash(ChecksumHashGenerator &hashgen) const;
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void generate_hash(ChecksumHashGenerator &hashgen, FLOATTYPE scale) const;
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public:
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union {
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struct {
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FLOATTYPE _00, _01, _02, _03;
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FLOATTYPE _10, _11, _12, _13;
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FLOATTYPE _20, _21, _22, _23;
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FLOATTYPE _30, _31, _32, _33;
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} m;
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FLOATTYPE data[4 * 4];
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} _m;
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private:
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INLINE_LINMATH FLOATTYPE mult_cel(const FLOATNAME(LMatrix4) &other, int x, int y) const;
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bool decompose_mat(int index[4]);
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bool back_sub_mat(int index[4], FLOATNAME(LMatrix4) &inv, int row) const;
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static const FLOATNAME(LMatrix4) _ident_mat;
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static const FLOATNAME(LMatrix4) _y_to_z_up_mat;
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static const FLOATNAME(LMatrix4) _z_to_y_up_mat;
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//Functionality for reading and writing from/to a binary source
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public:
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void write_datagram(Datagram& destination) const;
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void read_datagram(DatagramIterator& scan);
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type();
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private:
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static TypeHandle _type_handle;
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};
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INLINE_LINMATH ostream &operator << (ostream &out, const FLOATNAME(LMatrix4) &mat) {
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mat.output(out);
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return out;
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}
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INLINE_LINMATH FLOATNAME(LMatrix4) transpose(const FLOATNAME(LMatrix4) &a);
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INLINE_LINMATH FLOATNAME(LMatrix4) invert(const FLOATNAME(LMatrix4) &a);
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#include "lmatrix4_src.I"
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