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00001 //***************************************************************************** 00011 //***************************************************************************** 00012 00013 #if (_MSC_VER > 1000) || defined(SGI_COMPILER) 00014 #pragma once 00015 #endif 00016 00017 #ifndef __XSIMATRIX3F_H__ 00018 #define __XSIMATRIX3F_H__ 00019 00020 #include "sicppsdk.h" 00021 #include "xsi_math.h" 00022 00023 namespace XSI { 00024 namespace MATH { 00025 00026 class CVector3f; 00027 00028 //***************************************************************************** 00033 //***************************************************************************** 00034 class SICPPSDKDECL CMatrix3f 00035 { 00036 public: 00037 00039 SICPPSDK_INLINE CMatrix3f(); 00040 00052 SICPPSDK_INLINE CMatrix3f( float in_00, float in_01, float in_02, 00053 float in_10, float in_11, float in_12, 00054 float in_20, float in_21, float in_22); 00055 00059 SICPPSDK_INLINE CMatrix3f( const CMatrix3f& in_matrix3); 00060 00062 SICPPSDK_INLINE ~CMatrix3f(); 00063 00067 SICPPSDK_INLINE CMatrix3f & operator=( const CMatrix3f & in_matrix3 ); 00068 00074 SICPPSDK_INLINE CMatrix3f & operator*=(const CMatrix3f & in_matrix3 ); 00075 00079 SICPPSDK_INLINE CMatrix3f& SetIdentity(); 00080 00085 SICPPSDK_INLINE bool Invert(const CMatrix3f& in_matrix3); 00086 00090 SICPPSDK_INLINE bool TransposeInverseInPlace(); 00091 00097 SICPPSDK_INLINE bool TransposeInverse(const CMatrix3f& in_matrix3); 00098 00101 SICPPSDK_INLINE void TransposeInPlace(); 00102 00106 SICPPSDK_INLINE void Transpose(const CMatrix3f& in_matrix3); 00107 00112 SICPPSDK_INLINE CMatrix3f& MulInPlace(const CMatrix3f& in_matrix3); 00113 00120 SICPPSDK_INLINE CMatrix3f& Mul(const CMatrix3f& in_matrix3A, const CMatrix3f& in_matrix3B); 00121 00133 SICPPSDK_INLINE void Get( float& io_00, float& io_01, float& io_02, 00134 float& io_10, float& io_11, float& io_12, 00135 float& io_20, float& io_21, float& io_22) const; 00136 00148 SICPPSDK_INLINE void Set( float in_00, float in_01, float in_02, 00149 float in_10, float in_11, float in_12, 00150 float in_20, float in_21, float in_22); 00151 00155 SICPPSDK_INLINE void Set(const float in_Val[3][3]); 00156 00160 SICPPSDK_INLINE float* Get(); 00161 00167 SICPPSDK_INLINE float GetValue(short in_sRow,short in_sCol )const; 00168 00174 SICPPSDK_INLINE void SetValue(short in_sRow, short in_sCol, float in_Val ); 00175 00181 bool EpsilonEquals( const CMatrix3f& in_matrix3, float in_Epsilon ) const; 00182 00187 SICPPSDK_INLINE bool Equals(const CMatrix3f& in_matrix3) const; 00188 00194 SICPPSDK_INLINE bool operator ==(const CMatrix3f & in_matrix3 ) const; 00195 00201 SICPPSDK_INLINE bool operator !=(const CMatrix3f & in_matrix3 ) const; 00202 00210 SICPPSDK_INLINE bool operator < (const CMatrix3f& in_matrix3 )const; 00211 00212 private: 00213 float m_Mat[3][3]; 00214 00215 SICPPSDK_INLINE void ComputeDetAndDetSize 00216 ( 00217 const float in_fMat[3][3], 00218 float &out_fDet, 00219 float &out_fDetSize 00220 ); 00221 SICPPSDK_INLINE void ComputeAdjoint 00222 ( 00223 const float in_fMat[3][3], 00224 float out_fAdj[3][3] 00225 ); 00226 SICPPSDK_INLINE bool ComputeInverse 00227 ( 00228 const float in_fMat[3][3], 00229 float out_fInv[3][3], 00230 const bool in_bTransposeResult = false, 00231 const float in_fEps = MicroEPS 00232 ); 00233 }; 00234 00235 SICPPSDK_INLINE CMatrix3f::CMatrix3f() 00236 { 00237 m_Mat[0][0] = 0.0; 00238 m_Mat[0][1] = 0.0; 00239 m_Mat[0][2] = 0.0; 00240 m_Mat[1][0] = 0.0; 00241 m_Mat[1][1] = 0.0; 00242 m_Mat[1][2] = 0.0; 00243 m_Mat[2][0] = 0.0; 00244 m_Mat[2][1] = 0.0; 00245 m_Mat[2][2] = 0.0; 00246 } 00247 00248 SICPPSDK_INLINE CMatrix3f::CMatrix3f 00249 ( 00250 float in_00, float in_01, float in_02, 00251 float in_10, float in_11, float in_12, 00252 float in_20, float in_21, float in_22 00253 ) 00254 { 00255 m_Mat[0][0] = in_00; 00256 m_Mat[0][1] = in_01; 00257 m_Mat[0][2] = in_02; 00258 m_Mat[1][0] = in_10; 00259 m_Mat[1][1] = in_11; 00260 m_Mat[1][2] = in_12; 00261 m_Mat[2][0] = in_20; 00262 m_Mat[2][1] = in_21; 00263 m_Mat[2][2] = in_22; 00264 } 00265 00266 SICPPSDK_INLINE CMatrix3f::CMatrix3f(const CMatrix3f& in_matrix3) 00267 { 00268 m_Mat[0][0] = in_matrix3.m_Mat[0][0]; 00269 m_Mat[0][1] = in_matrix3.m_Mat[0][1]; 00270 m_Mat[0][2] = in_matrix3.m_Mat[0][2]; 00271 m_Mat[1][0] = in_matrix3.m_Mat[1][0]; 00272 m_Mat[1][1] = in_matrix3.m_Mat[1][1]; 00273 m_Mat[1][2] = in_matrix3.m_Mat[1][2]; 00274 m_Mat[2][0] = in_matrix3.m_Mat[2][0]; 00275 m_Mat[2][1] = in_matrix3.m_Mat[2][1]; 00276 m_Mat[2][2] = in_matrix3.m_Mat[2][2]; 00277 } 00278 00279 SICPPSDK_INLINE CMatrix3f::~CMatrix3f() 00280 {} 00281 00282 SICPPSDK_INLINE CMatrix3f& CMatrix3f::operator=( const CMatrix3f & in_matrix3 ) 00283 { 00284 Set(in_matrix3.m_Mat); 00285 return *this; 00286 } 00287 00288 SICPPSDK_INLINE CMatrix3f& CMatrix3f::operator *=(const CMatrix3f& in_matrix3) 00289 { 00290 return MulInPlace(in_matrix3); 00291 } 00292 00293 SICPPSDK_INLINE CMatrix3f& CMatrix3f::SetIdentity() 00294 { 00295 m_Mat[0][0] = 1.0; 00296 m_Mat[0][1] = 0.0; 00297 m_Mat[0][2] = 0.0; 00298 m_Mat[1][0] = 0.0; 00299 m_Mat[1][1] = 1.0; 00300 m_Mat[1][2] = 0.0; 00301 m_Mat[2][0] = 0.0; 00302 m_Mat[2][1] = 0.0; 00303 m_Mat[2][2] = 1.0; 00304 return *this; 00305 } 00306 00307 SICPPSDK_INLINE bool CMatrix3f::Invert(const CMatrix3f& in_matrix3) 00308 { 00309 float Inv[3][3]; 00310 00311 if (ComputeInverse(in_matrix3.m_Mat, Inv)) 00312 { 00313 Set( Inv); 00314 return true; 00315 } 00316 else // singular matrix 00317 { 00318 return false; 00319 } 00320 } 00321 00322 SICPPSDK_INLINE bool CMatrix3f::TransposeInverseInPlace() 00323 { 00324 return TransposeInverse(*this); 00325 } 00326 00327 SICPPSDK_INLINE bool CMatrix3f::TransposeInverse(const CMatrix3f& in_matrix3) 00328 { 00329 float TransInv[3][3]; 00330 00331 if(ComputeInverse(in_matrix3.m_Mat, TransInv, true)) 00332 { 00333 Set(TransInv); 00334 return true; 00335 } 00336 else // singular matrix 00337 { 00338 return false; 00339 } 00340 } 00341 00342 SICPPSDK_INLINE void CMatrix3f::TransposeInPlace() 00343 { 00344 Transpose(*this); 00345 } 00346 00347 SICPPSDK_INLINE void CMatrix3f::Transpose(const CMatrix3f& in_matrix3) 00348 { 00349 float fTempMat[3][3]; 00350 00351 for(int nR=0; nR<3; nR++) 00352 { 00353 for(int nC=0; nC<3; nC++) 00354 { 00355 fTempMat[nR][nC] = in_matrix3.m_Mat[nC][nR]; 00356 } 00357 } 00358 00359 Set(fTempMat); 00360 } 00361 00362 SICPPSDK_INLINE CMatrix3f& CMatrix3f::MulInPlace(const CMatrix3f& in_matrix3) 00363 { 00364 return Mul(*this,in_matrix3); 00365 } 00366 00367 SICPPSDK_INLINE CMatrix3f& CMatrix3f::Mul 00368 ( 00369 const CMatrix3f& in_matrix3A, 00370 const CMatrix3f& in_matrix3B 00371 ) 00372 { 00373 float fTempMat[3][3]; 00374 00375 for(int nR=0; nR<3; nR++) 00376 { 00377 for(int nC=0; nC<3; nC++) 00378 { 00379 fTempMat[nR][nC] = 00380 in_matrix3A.m_Mat[nR][0] * in_matrix3B.m_Mat[0][nC] + 00381 in_matrix3A.m_Mat[nR][1] * in_matrix3B.m_Mat[1][nC] + 00382 in_matrix3A.m_Mat[nR][2] * in_matrix3B.m_Mat[2][nC]; 00383 } 00384 } 00385 Set(fTempMat); 00386 return *this; 00387 } 00388 00389 SICPPSDK_INLINE void CMatrix3f::Get 00390 ( 00391 float& io_00, float& io_01, float& io_02, 00392 float& io_10, float& io_11, float& io_12, 00393 float& io_20, float& io_21, float& io_22 00394 ) const 00395 { 00396 io_00 = m_Mat[0][0]; 00397 io_01 = m_Mat[0][1]; 00398 io_02 = m_Mat[0][2]; 00399 io_10 = m_Mat[1][0]; 00400 io_11 = m_Mat[1][1]; 00401 io_12 = m_Mat[1][2]; 00402 io_20 = m_Mat[2][0]; 00403 io_21 = m_Mat[2][1]; 00404 io_22 = m_Mat[2][2]; 00405 } 00406 00407 SICPPSDK_INLINE void CMatrix3f::Set 00408 ( 00409 float in_00, float in_01, float in_02, 00410 float in_10, float in_11, float in_12, 00411 float in_20, float in_21, float in_22 00412 ) 00413 { 00414 m_Mat[0][0] = in_00; 00415 m_Mat[0][1] = in_01; 00416 m_Mat[0][2] = in_02; 00417 m_Mat[1][0] = in_10; 00418 m_Mat[1][1] = in_11; 00419 m_Mat[1][2] = in_12; 00420 m_Mat[2][0] = in_20; 00421 m_Mat[2][1] = in_21; 00422 m_Mat[2][2] = in_22; 00423 } 00424 00425 SICPPSDK_INLINE void CMatrix3f::Set(const float in_Val[3][3]) 00426 { 00427 m_Mat[0][0] = in_Val[0][0]; 00428 m_Mat[0][1] = in_Val[0][1]; 00429 m_Mat[0][2] = in_Val[0][2]; 00430 m_Mat[1][0] = in_Val[1][0]; 00431 m_Mat[1][1] = in_Val[1][1]; 00432 m_Mat[1][2] = in_Val[1][2]; 00433 m_Mat[2][0] = in_Val[2][0]; 00434 m_Mat[2][1] = in_Val[2][1]; 00435 m_Mat[2][2] = in_Val[2][2]; 00436 } 00437 00438 SICPPSDK_INLINE float* CMatrix3f::Get() 00439 { 00440 return &m_Mat[0][0]; 00441 } 00442 00443 SICPPSDK_INLINE float CMatrix3f::GetValue(short in_sRow,short in_sCol ) const 00444 { 00445 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && in_sRow <=2 && in_sCol <= 2); 00446 assert(l_bValidIndex); 00447 00448 if(l_bValidIndex) 00449 { 00450 return m_Mat[in_sRow][in_sCol]; 00451 } 00452 return 0.0; 00453 } 00454 00455 SICPPSDK_INLINE void CMatrix3f::SetValue(short in_sRow, short in_sCol, float in_Val ) 00456 { 00457 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && 00458 in_sRow <=2 && in_sCol <= 2); 00459 assert(l_bValidIndex); 00460 00461 if(l_bValidIndex) 00462 { 00463 m_Mat[in_sRow][in_sCol] = in_Val; 00464 } 00465 } 00466 00467 SICPPSDK_INLINE bool CMatrix3f::Equals(const CMatrix3f& in_matrix3) const 00468 { 00469 return (this == &in_matrix3) ? true : 00470 m_Mat[0][0] == in_matrix3.m_Mat[0][0] && 00471 m_Mat[0][1] == in_matrix3.m_Mat[0][1] && 00472 m_Mat[0][2] == in_matrix3.m_Mat[0][2] && 00473 m_Mat[1][0] == in_matrix3.m_Mat[1][0] && 00474 m_Mat[1][1] == in_matrix3.m_Mat[1][1] && 00475 m_Mat[1][2] == in_matrix3.m_Mat[1][2] && 00476 m_Mat[2][0] == in_matrix3.m_Mat[2][0] && 00477 m_Mat[2][1] == in_matrix3.m_Mat[2][1] && 00478 m_Mat[2][2] == in_matrix3.m_Mat[2][2]; 00479 } 00480 00481 SICPPSDK_INLINE bool CMatrix3f::operator ==(const CMatrix3f & in_matrix3 ) const 00482 { 00483 return Equals( in_matrix3 ); 00484 } 00485 00486 SICPPSDK_INLINE bool CMatrix3f::operator !=(const CMatrix3f & in_matrix3 ) const 00487 { 00488 return ! Equals( in_matrix3 ); 00489 } 00490 00491 SICPPSDK_INLINE bool CMatrix3f::operator < (const CMatrix3f& in_matrix3 )const 00492 { 00493 if ( m_Mat[0][0] != in_matrix3.m_Mat[0][0] ) return m_Mat[0][0] < in_matrix3.m_Mat[0][0]; 00494 if ( m_Mat[0][1] != in_matrix3.m_Mat[0][1] ) return m_Mat[0][1] < in_matrix3.m_Mat[0][1]; 00495 if ( m_Mat[0][2] != in_matrix3.m_Mat[0][2] ) return m_Mat[0][2] < in_matrix3.m_Mat[0][2]; 00496 if ( m_Mat[1][0] != in_matrix3.m_Mat[1][0] ) return m_Mat[1][0] < in_matrix3.m_Mat[1][0]; 00497 if ( m_Mat[1][1] != in_matrix3.m_Mat[1][1] ) return m_Mat[1][1] < in_matrix3.m_Mat[1][1]; 00498 if ( m_Mat[1][2] != in_matrix3.m_Mat[1][2] ) return m_Mat[1][2] < in_matrix3.m_Mat[1][2]; 00499 if ( m_Mat[2][0] != in_matrix3.m_Mat[2][0] ) return m_Mat[2][0] < in_matrix3.m_Mat[2][0]; 00500 if ( m_Mat[2][1] != in_matrix3.m_Mat[2][1] ) return m_Mat[2][1] < in_matrix3.m_Mat[2][1]; 00501 if ( m_Mat[2][2] != in_matrix3.m_Mat[2][2] ) return m_Mat[2][2] < in_matrix3.m_Mat[2][2]; 00502 return false; 00503 } 00504 00505 SICPPSDK_INLINE void CMatrix3f::ComputeDetAndDetSize 00506 ( 00507 const float in_fMat[3][3], 00508 float &out_fDet, 00509 float &out_fDetSize 00510 ) 00511 { 00512 float fTemp; 00513 out_fDet = 0.0; 00514 out_fDetSize = 0.0; 00515 00516 fTemp = in_fMat[0][0] * in_fMat[1][1] * in_fMat[2][2]; 00517 out_fDet += fTemp; 00518 out_fDetSize += fabs(fTemp); 00519 00520 fTemp = in_fMat[0][1] * in_fMat[1][2] * in_fMat[2][0]; 00521 out_fDet += fTemp; 00522 out_fDetSize += fabs(fTemp); 00523 00524 fTemp = in_fMat[0][2] * in_fMat[1][0] * in_fMat[2][1]; 00525 out_fDet += fTemp; 00526 out_fDetSize += fabs(fTemp); 00527 00528 fTemp = -in_fMat[0][2] * in_fMat[1][1] * in_fMat[2][0]; 00529 out_fDet += fTemp; 00530 out_fDetSize += fabs(fTemp); 00531 00532 fTemp = -in_fMat[0][1] * in_fMat[1][0] * in_fMat[2][2]; 00533 out_fDet += fTemp; 00534 out_fDetSize += fabs(fTemp); 00535 00536 fTemp = -in_fMat[0][0] * in_fMat[1][2] * in_fMat[2][1]; 00537 out_fDet += fTemp; 00538 out_fDetSize += fabs(fTemp); 00539 } 00540 00541 SICPPSDK_INLINE void CMatrix3f::ComputeAdjoint 00542 ( 00543 const float in_fMat[3][3], 00544 float out_fAdj[3][3] 00545 ) 00546 { 00547 out_fAdj[0][0] = (in_fMat[1][1]*in_fMat[2][2] - in_fMat[1][2]*in_fMat[2][1]); 00548 out_fAdj[0][1] = - (in_fMat[0][1]*in_fMat[2][2] - in_fMat[0][2]*in_fMat[2][1]); 00549 out_fAdj[0][2] = (in_fMat[0][1]*in_fMat[1][2] - in_fMat[0][2]*in_fMat[1][1]); 00550 00551 out_fAdj[1][0] = - (in_fMat[1][0]*in_fMat[2][2] - in_fMat[1][2]*in_fMat[2][0]); 00552 out_fAdj[1][1] = (in_fMat[0][0]*in_fMat[2][2] - in_fMat[0][2]*in_fMat[2][0]); 00553 out_fAdj[1][2] = - (in_fMat[0][0]*in_fMat[1][2] - in_fMat[0][2]*in_fMat[1][0]); 00554 00555 out_fAdj[2][0] = (in_fMat[1][0]*in_fMat[2][1] - in_fMat[1][1]*in_fMat[2][0]); 00556 out_fAdj[2][1] = - (in_fMat[0][0]*in_fMat[2][1] - in_fMat[0][1]*in_fMat[2][0]); 00557 out_fAdj[2][2] = (in_fMat[0][0]*in_fMat[1][1] - in_fMat[0][1]*in_fMat[1][0]); 00558 } 00559 00560 SICPPSDK_INLINE bool CMatrix3f::ComputeInverse 00561 ( 00562 const float in_fMat[3][3], 00563 float out_fInv[3][3], 00564 const bool in_bTransposeResult, 00565 const float in_fEps 00566 ) 00567 { 00568 float fAdj[3][3]; 00569 float fDet=0.0, fDetSize=0.0, fInvDet; 00570 00571 ComputeDetAndDetSize(in_fMat, fDet, fDetSize); 00572 if(fDetSize != 0.0 && fabs(fDet/fDetSize) >= in_fEps) 00573 { 00574 ComputeAdjoint(in_fMat, fAdj); 00575 fInvDet = 1.0f/fDet; 00576 if(in_bTransposeResult) 00577 { 00578 for(int nR=0; nR<3; nR++) 00579 { 00580 for(int nC=0; nC<3; nC++) 00581 { 00582 out_fInv[nC][nR] = fAdj[nR][nC] * fInvDet; 00583 } 00584 } 00585 } 00586 else 00587 { 00588 for(int nR=0; nR<3; nR++) 00589 { 00590 for(int nC=0; nC<3; nC++) 00591 { 00592 out_fInv[nR][nC] = fAdj[nR][nC] * fInvDet; 00593 } 00594 } 00595 } 00596 return true; 00597 } 00598 else 00599 { 00600 return false; 00601 } 00602 } 00603 00604 }; 00605 }; 00606 00607 #endif // __XSIMATRIX3F_H__