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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 00216 SICPPSDK_INLINE const float* Get() const; 00217 00218 private: 00219 float m_Mat[3][3]; 00220 00221 SICPPSDK_INLINE void ComputeDetAndDetSize 00222 ( 00223 const float in_fMat[3][3], 00224 float &out_fDet, 00225 float &out_fDetSize 00226 ); 00227 SICPPSDK_INLINE void ComputeAdjoint 00228 ( 00229 const float in_fMat[3][3], 00230 float out_fAdj[3][3] 00231 ); 00232 SICPPSDK_INLINE bool ComputeInverse 00233 ( 00234 const float in_fMat[3][3], 00235 float out_fInv[3][3], 00236 const bool in_bTransposeResult = false, 00237 const float in_fEps = MicroEPS 00238 ); 00239 }; 00240 00241 SICPPSDK_INLINE CMatrix3f::CMatrix3f() 00242 { 00243 m_Mat[0][0] = 0.0; 00244 m_Mat[0][1] = 0.0; 00245 m_Mat[0][2] = 0.0; 00246 m_Mat[1][0] = 0.0; 00247 m_Mat[1][1] = 0.0; 00248 m_Mat[1][2] = 0.0; 00249 m_Mat[2][0] = 0.0; 00250 m_Mat[2][1] = 0.0; 00251 m_Mat[2][2] = 0.0; 00252 } 00253 00254 SICPPSDK_INLINE CMatrix3f::CMatrix3f 00255 ( 00256 float in_00, float in_01, float in_02, 00257 float in_10, float in_11, float in_12, 00258 float in_20, float in_21, float in_22 00259 ) 00260 { 00261 m_Mat[0][0] = in_00; 00262 m_Mat[0][1] = in_01; 00263 m_Mat[0][2] = in_02; 00264 m_Mat[1][0] = in_10; 00265 m_Mat[1][1] = in_11; 00266 m_Mat[1][2] = in_12; 00267 m_Mat[2][0] = in_20; 00268 m_Mat[2][1] = in_21; 00269 m_Mat[2][2] = in_22; 00270 } 00271 00272 SICPPSDK_INLINE CMatrix3f::CMatrix3f(const CMatrix3f& in_matrix3) 00273 { 00274 m_Mat[0][0] = in_matrix3.m_Mat[0][0]; 00275 m_Mat[0][1] = in_matrix3.m_Mat[0][1]; 00276 m_Mat[0][2] = in_matrix3.m_Mat[0][2]; 00277 m_Mat[1][0] = in_matrix3.m_Mat[1][0]; 00278 m_Mat[1][1] = in_matrix3.m_Mat[1][1]; 00279 m_Mat[1][2] = in_matrix3.m_Mat[1][2]; 00280 m_Mat[2][0] = in_matrix3.m_Mat[2][0]; 00281 m_Mat[2][1] = in_matrix3.m_Mat[2][1]; 00282 m_Mat[2][2] = in_matrix3.m_Mat[2][2]; 00283 } 00284 00285 SICPPSDK_INLINE CMatrix3f::~CMatrix3f() 00286 {} 00287 00288 SICPPSDK_INLINE CMatrix3f& CMatrix3f::operator=( const CMatrix3f & in_matrix3 ) 00289 { 00290 Set(in_matrix3.m_Mat); 00291 return *this; 00292 } 00293 00294 SICPPSDK_INLINE CMatrix3f& CMatrix3f::operator *=(const CMatrix3f& in_matrix3) 00295 { 00296 return MulInPlace(in_matrix3); 00297 } 00298 00299 SICPPSDK_INLINE CMatrix3f& CMatrix3f::SetIdentity() 00300 { 00301 m_Mat[0][0] = 1.0; 00302 m_Mat[0][1] = 0.0; 00303 m_Mat[0][2] = 0.0; 00304 m_Mat[1][0] = 0.0; 00305 m_Mat[1][1] = 1.0; 00306 m_Mat[1][2] = 0.0; 00307 m_Mat[2][0] = 0.0; 00308 m_Mat[2][1] = 0.0; 00309 m_Mat[2][2] = 1.0; 00310 return *this; 00311 } 00312 00313 SICPPSDK_INLINE bool CMatrix3f::Invert(const CMatrix3f& in_matrix3) 00314 { 00315 float Inv[3][3]; 00316 00317 if (ComputeInverse(in_matrix3.m_Mat, Inv)) 00318 { 00319 Set( Inv); 00320 return true; 00321 } 00322 else // singular matrix 00323 { 00324 return false; 00325 } 00326 } 00327 00328 SICPPSDK_INLINE bool CMatrix3f::TransposeInverseInPlace() 00329 { 00330 return TransposeInverse(*this); 00331 } 00332 00333 SICPPSDK_INLINE bool CMatrix3f::TransposeInverse(const CMatrix3f& in_matrix3) 00334 { 00335 float TransInv[3][3]; 00336 00337 if(ComputeInverse(in_matrix3.m_Mat, TransInv, true)) 00338 { 00339 Set(TransInv); 00340 return true; 00341 } 00342 else // singular matrix 00343 { 00344 return false; 00345 } 00346 } 00347 00348 SICPPSDK_INLINE void CMatrix3f::TransposeInPlace() 00349 { 00350 Transpose(*this); 00351 } 00352 00353 SICPPSDK_INLINE void CMatrix3f::Transpose(const CMatrix3f& in_matrix3) 00354 { 00355 float fTempMat[3][3]; 00356 00357 for(int nR=0; nR<3; nR++) 00358 { 00359 for(int nC=0; nC<3; nC++) 00360 { 00361 fTempMat[nR][nC] = in_matrix3.m_Mat[nC][nR]; 00362 } 00363 } 00364 00365 Set(fTempMat); 00366 } 00367 00368 SICPPSDK_INLINE CMatrix3f& CMatrix3f::MulInPlace(const CMatrix3f& in_matrix3) 00369 { 00370 return Mul(*this,in_matrix3); 00371 } 00372 00373 SICPPSDK_INLINE CMatrix3f& CMatrix3f::Mul 00374 ( 00375 const CMatrix3f& in_matrix3A, 00376 const CMatrix3f& in_matrix3B 00377 ) 00378 { 00379 float fTempMat[3][3]; 00380 00381 for(int nR=0; nR<3; nR++) 00382 { 00383 for(int nC=0; nC<3; nC++) 00384 { 00385 fTempMat[nR][nC] = 00386 in_matrix3A.m_Mat[nR][0] * in_matrix3B.m_Mat[0][nC] + 00387 in_matrix3A.m_Mat[nR][1] * in_matrix3B.m_Mat[1][nC] + 00388 in_matrix3A.m_Mat[nR][2] * in_matrix3B.m_Mat[2][nC]; 00389 } 00390 } 00391 Set(fTempMat); 00392 return *this; 00393 } 00394 00395 SICPPSDK_INLINE void CMatrix3f::Get 00396 ( 00397 float& io_00, float& io_01, float& io_02, 00398 float& io_10, float& io_11, float& io_12, 00399 float& io_20, float& io_21, float& io_22 00400 ) const 00401 { 00402 io_00 = m_Mat[0][0]; 00403 io_01 = m_Mat[0][1]; 00404 io_02 = m_Mat[0][2]; 00405 io_10 = m_Mat[1][0]; 00406 io_11 = m_Mat[1][1]; 00407 io_12 = m_Mat[1][2]; 00408 io_20 = m_Mat[2][0]; 00409 io_21 = m_Mat[2][1]; 00410 io_22 = m_Mat[2][2]; 00411 } 00412 00413 SICPPSDK_INLINE void CMatrix3f::Set 00414 ( 00415 float in_00, float in_01, float in_02, 00416 float in_10, float in_11, float in_12, 00417 float in_20, float in_21, float in_22 00418 ) 00419 { 00420 m_Mat[0][0] = in_00; 00421 m_Mat[0][1] = in_01; 00422 m_Mat[0][2] = in_02; 00423 m_Mat[1][0] = in_10; 00424 m_Mat[1][1] = in_11; 00425 m_Mat[1][2] = in_12; 00426 m_Mat[2][0] = in_20; 00427 m_Mat[2][1] = in_21; 00428 m_Mat[2][2] = in_22; 00429 } 00430 00431 SICPPSDK_INLINE void CMatrix3f::Set(const float in_Val[3][3]) 00432 { 00433 m_Mat[0][0] = in_Val[0][0]; 00434 m_Mat[0][1] = in_Val[0][1]; 00435 m_Mat[0][2] = in_Val[0][2]; 00436 m_Mat[1][0] = in_Val[1][0]; 00437 m_Mat[1][1] = in_Val[1][1]; 00438 m_Mat[1][2] = in_Val[1][2]; 00439 m_Mat[2][0] = in_Val[2][0]; 00440 m_Mat[2][1] = in_Val[2][1]; 00441 m_Mat[2][2] = in_Val[2][2]; 00442 } 00443 00444 SICPPSDK_INLINE float* CMatrix3f::Get() 00445 { 00446 return &m_Mat[0][0]; 00447 } 00448 00449 SICPPSDK_INLINE const float* CMatrix3f::Get() const 00450 { 00451 return &m_Mat[0][0]; 00452 } 00453 00454 SICPPSDK_INLINE float CMatrix3f::GetValue(short in_sRow,short in_sCol ) const 00455 { 00456 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && in_sRow <=2 && in_sCol <= 2); 00457 assert(l_bValidIndex); 00458 00459 if(l_bValidIndex) 00460 { 00461 return m_Mat[in_sRow][in_sCol]; 00462 } 00463 return 0.0; 00464 } 00465 00466 SICPPSDK_INLINE void CMatrix3f::SetValue(short in_sRow, short in_sCol, float in_Val ) 00467 { 00468 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && 00469 in_sRow <=2 && in_sCol <= 2); 00470 assert(l_bValidIndex); 00471 00472 if(l_bValidIndex) 00473 { 00474 m_Mat[in_sRow][in_sCol] = in_Val; 00475 } 00476 } 00477 00478 SICPPSDK_INLINE bool CMatrix3f::Equals(const CMatrix3f& in_matrix3) const 00479 { 00480 return (this == &in_matrix3) ? true : 00481 m_Mat[0][0] == in_matrix3.m_Mat[0][0] && 00482 m_Mat[0][1] == in_matrix3.m_Mat[0][1] && 00483 m_Mat[0][2] == in_matrix3.m_Mat[0][2] && 00484 m_Mat[1][0] == in_matrix3.m_Mat[1][0] && 00485 m_Mat[1][1] == in_matrix3.m_Mat[1][1] && 00486 m_Mat[1][2] == in_matrix3.m_Mat[1][2] && 00487 m_Mat[2][0] == in_matrix3.m_Mat[2][0] && 00488 m_Mat[2][1] == in_matrix3.m_Mat[2][1] && 00489 m_Mat[2][2] == in_matrix3.m_Mat[2][2]; 00490 } 00491 00492 SICPPSDK_INLINE bool CMatrix3f::operator ==(const CMatrix3f & in_matrix3 ) const 00493 { 00494 return Equals( in_matrix3 ); 00495 } 00496 00497 SICPPSDK_INLINE bool CMatrix3f::operator !=(const CMatrix3f & in_matrix3 ) const 00498 { 00499 return ! Equals( in_matrix3 ); 00500 } 00501 00502 SICPPSDK_INLINE bool CMatrix3f::operator < (const CMatrix3f& in_matrix3 )const 00503 { 00504 if ( m_Mat[0][0] != in_matrix3.m_Mat[0][0] ) return m_Mat[0][0] < in_matrix3.m_Mat[0][0]; 00505 if ( m_Mat[0][1] != in_matrix3.m_Mat[0][1] ) return m_Mat[0][1] < in_matrix3.m_Mat[0][1]; 00506 if ( m_Mat[0][2] != in_matrix3.m_Mat[0][2] ) return m_Mat[0][2] < in_matrix3.m_Mat[0][2]; 00507 if ( m_Mat[1][0] != in_matrix3.m_Mat[1][0] ) return m_Mat[1][0] < in_matrix3.m_Mat[1][0]; 00508 if ( m_Mat[1][1] != in_matrix3.m_Mat[1][1] ) return m_Mat[1][1] < in_matrix3.m_Mat[1][1]; 00509 if ( m_Mat[1][2] != in_matrix3.m_Mat[1][2] ) return m_Mat[1][2] < in_matrix3.m_Mat[1][2]; 00510 if ( m_Mat[2][0] != in_matrix3.m_Mat[2][0] ) return m_Mat[2][0] < in_matrix3.m_Mat[2][0]; 00511 if ( m_Mat[2][1] != in_matrix3.m_Mat[2][1] ) return m_Mat[2][1] < in_matrix3.m_Mat[2][1]; 00512 if ( m_Mat[2][2] != in_matrix3.m_Mat[2][2] ) return m_Mat[2][2] < in_matrix3.m_Mat[2][2]; 00513 return false; 00514 } 00515 00516 SICPPSDK_INLINE void CMatrix3f::ComputeDetAndDetSize 00517 ( 00518 const float in_fMat[3][3], 00519 float &out_fDet, 00520 float &out_fDetSize 00521 ) 00522 { 00523 float fTemp; 00524 out_fDet = 0.0; 00525 out_fDetSize = 0.0; 00526 00527 fTemp = in_fMat[0][0] * in_fMat[1][1] * in_fMat[2][2]; 00528 out_fDet += fTemp; 00529 out_fDetSize += fabs(fTemp); 00530 00531 fTemp = in_fMat[0][1] * in_fMat[1][2] * in_fMat[2][0]; 00532 out_fDet += fTemp; 00533 out_fDetSize += fabs(fTemp); 00534 00535 fTemp = in_fMat[0][2] * in_fMat[1][0] * in_fMat[2][1]; 00536 out_fDet += fTemp; 00537 out_fDetSize += fabs(fTemp); 00538 00539 fTemp = -in_fMat[0][2] * in_fMat[1][1] * in_fMat[2][0]; 00540 out_fDet += fTemp; 00541 out_fDetSize += fabs(fTemp); 00542 00543 fTemp = -in_fMat[0][1] * in_fMat[1][0] * in_fMat[2][2]; 00544 out_fDet += fTemp; 00545 out_fDetSize += fabs(fTemp); 00546 00547 fTemp = -in_fMat[0][0] * in_fMat[1][2] * in_fMat[2][1]; 00548 out_fDet += fTemp; 00549 out_fDetSize += fabs(fTemp); 00550 } 00551 00552 SICPPSDK_INLINE void CMatrix3f::ComputeAdjoint 00553 ( 00554 const float in_fMat[3][3], 00555 float out_fAdj[3][3] 00556 ) 00557 { 00558 out_fAdj[0][0] = (in_fMat[1][1]*in_fMat[2][2] - in_fMat[1][2]*in_fMat[2][1]); 00559 out_fAdj[0][1] = - (in_fMat[0][1]*in_fMat[2][2] - in_fMat[0][2]*in_fMat[2][1]); 00560 out_fAdj[0][2] = (in_fMat[0][1]*in_fMat[1][2] - in_fMat[0][2]*in_fMat[1][1]); 00561 00562 out_fAdj[1][0] = - (in_fMat[1][0]*in_fMat[2][2] - in_fMat[1][2]*in_fMat[2][0]); 00563 out_fAdj[1][1] = (in_fMat[0][0]*in_fMat[2][2] - in_fMat[0][2]*in_fMat[2][0]); 00564 out_fAdj[1][2] = - (in_fMat[0][0]*in_fMat[1][2] - in_fMat[0][2]*in_fMat[1][0]); 00565 00566 out_fAdj[2][0] = (in_fMat[1][0]*in_fMat[2][1] - in_fMat[1][1]*in_fMat[2][0]); 00567 out_fAdj[2][1] = - (in_fMat[0][0]*in_fMat[2][1] - in_fMat[0][1]*in_fMat[2][0]); 00568 out_fAdj[2][2] = (in_fMat[0][0]*in_fMat[1][1] - in_fMat[0][1]*in_fMat[1][0]); 00569 } 00570 00571 SICPPSDK_INLINE bool CMatrix3f::ComputeInverse 00572 ( 00573 const float in_fMat[3][3], 00574 float out_fInv[3][3], 00575 const bool in_bTransposeResult, 00576 const float in_fEps 00577 ) 00578 { 00579 float fAdj[3][3]; 00580 float fDet=0.0, fDetSize=0.0, fInvDet; 00581 00582 ComputeDetAndDetSize(in_fMat, fDet, fDetSize); 00583 if(fDetSize != 0.0 && fabs(fDet/fDetSize) >= in_fEps) 00584 { 00585 ComputeAdjoint(in_fMat, fAdj); 00586 fInvDet = 1.0f/fDet; 00587 if(in_bTransposeResult) 00588 { 00589 for(int nR=0; nR<3; nR++) 00590 { 00591 for(int nC=0; nC<3; nC++) 00592 { 00593 out_fInv[nC][nR] = fAdj[nR][nC] * fInvDet; 00594 } 00595 } 00596 } 00597 else 00598 { 00599 for(int nR=0; nR<3; nR++) 00600 { 00601 for(int nC=0; nC<3; nC++) 00602 { 00603 out_fInv[nR][nC] = fAdj[nR][nC] * fInvDet; 00604 } 00605 } 00606 } 00607 return true; 00608 } 00609 else 00610 { 00611 return false; 00612 } 00613 } 00614 00615 }; 00616 }; 00617 00618 #endif // __XSIMATRIX3F_H__