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00001 //***************************************************************************** 00011 //***************************************************************************** 00012 00013 #if (_MSC_VER > 1000) || defined(SGI_COMPILER) 00014 #pragma once 00015 #endif 00016 00017 #ifndef __XSIMATRIX4_H__ 00018 #define __XSIMATRIX4_H__ 00019 00020 #include "sicppsdk.h" 00021 00022 namespace XSI { 00023 namespace MATH { 00024 00025 00026 //***************************************************************************** 00058 //***************************************************************************** 00059 class SICPPSDKDECL CMatrix4 00060 { 00061 public: 00062 00064 SICPPSDK_INLINE CMatrix4(); 00065 00084 SICPPSDK_INLINE CMatrix4(double in_d00, double in_d01, double in_d02, double in_d03, 00085 double in_d10, double in_d11, double in_d12, double in_d13, 00086 double in_d20, double in_d21, double in_d22, double in_d23, 00087 double in_d30, double in_d31, double in_d32, double in_d33); 00088 00092 SICPPSDK_INLINE CMatrix4( const CMatrix4& in_matrix4); 00093 00095 SICPPSDK_INLINE ~CMatrix4(); 00096 00101 SICPPSDK_INLINE CMatrix4 & operator=( const CMatrix4 & in_matrix4 ); 00102 00109 SICPPSDK_INLINE CMatrix4 & operator*=(const CMatrix4 & in_matrix4); 00110 00114 SICPPSDK_INLINE CMatrix4& SetIdentity(); 00115 00119 bool InvertInPlace(); 00120 00125 bool Invert(const CMatrix4& in_matrix4); 00126 00131 bool TransposeInverseInPlace(); 00132 00138 bool TransposeInverse(const CMatrix4& in_matrix4); 00139 00142 void TransposeInPlace(); 00143 00147 SICPPSDK_INLINE void Transpose(const CMatrix4& in_matrix4); 00148 00154 SICPPSDK_INLINE CMatrix4& MulInPlace(const CMatrix4& in_matrix4); 00155 00162 SICPPSDK_INLINE CMatrix4& Mul(const CMatrix4& in_matrix4A, const CMatrix4& in_matrix4B); 00163 00182 SICPPSDK_INLINE void Get 00183 ( 00184 double& io_d00, double& io_d01, double& io_d02, double& io_d03, 00185 double& io_d10, double& io_d11, double& io_d12, double& io_d13, 00186 double& io_d20, double& io_d21, double& io_d22, double& io_d23, 00187 double& io_d30, double& io_d31, double& io_d32, double& io_d33 00188 ) const; 00189 00190 00209 SICPPSDK_INLINE void Set(double in_d00, double in_d01, double in_d02, double in_d03, 00210 double in_d10, double in_d11, double in_d12, double in_d13, 00211 double in_d20, double in_d21, double in_d22, double in_d23, 00212 double in_d30, double in_d31, double in_d32, double in_d33); 00213 00217 SICPPSDK_INLINE void Set(const double in_vals[4][4]); 00218 00224 SICPPSDK_INLINE double GetValue(short in_sRow,short in_sCol )const; 00225 00231 SICPPSDK_INLINE void SetValue(short in_sRow, short in_sCol, double in_dVal ); 00232 00238 bool EpsilonEquals 00239 ( 00240 const CMatrix4& in_matrix4, 00241 double in_dEpsilon 00242 ) const; 00243 00248 SICPPSDK_INLINE bool Equals(const CMatrix4& in_matrix4) const; 00249 00255 SICPPSDK_INLINE bool operator ==(const CMatrix4 & in_matrix4 ) const; 00256 00262 SICPPSDK_INLINE bool operator !=(const CMatrix4 & in_matrix4 ) const; 00263 private: 00264 double m_dMat[4][4]; 00265 }; 00266 00267 //inline functions 00268 SICPPSDK_INLINE CMatrix4::CMatrix4() 00269 { 00270 m_dMat[0][0] = 0.0; 00271 m_dMat[0][1] = 0.0; 00272 m_dMat[0][2] = 0.0; 00273 m_dMat[0][3] = 0.0; 00274 m_dMat[1][0] = 0.0; 00275 m_dMat[1][1] = 0.0; 00276 m_dMat[1][2] = 0.0; 00277 m_dMat[1][3] = 0.0; 00278 m_dMat[2][0] = 0.0; 00279 m_dMat[2][1] = 0.0; 00280 m_dMat[2][2] = 0.0; 00281 m_dMat[2][3] = 0.0; 00282 m_dMat[3][0] = 0.0; 00283 m_dMat[3][1] = 0.0; 00284 m_dMat[3][2] = 0.0; 00285 m_dMat[3][3] = 0.0; 00286 } 00287 00288 SICPPSDK_INLINE CMatrix4::CMatrix4 00289 (double in_d00, double in_d01, double in_d02, double in_d03, 00290 double in_d10, double in_d11, double in_d12, double in_d13, 00291 double in_d20, double in_d21, double in_d22, double in_d23, 00292 double in_d30, double in_d31, double in_d32, double in_d33 00293 ) 00294 { 00295 m_dMat[0][0] = in_d00; 00296 m_dMat[0][1] = in_d01; 00297 m_dMat[0][2] = in_d02; 00298 m_dMat[0][3] = in_d03; 00299 m_dMat[1][0] = in_d10; 00300 m_dMat[1][1] = in_d11; 00301 m_dMat[1][2] = in_d12; 00302 m_dMat[1][3] = in_d13; 00303 m_dMat[2][0] = in_d20; 00304 m_dMat[2][1] = in_d21; 00305 m_dMat[2][2] = in_d22; 00306 m_dMat[2][3] = in_d23; 00307 m_dMat[3][0] = in_d30; 00308 m_dMat[3][1] = in_d31; 00309 m_dMat[3][2] = in_d32; 00310 m_dMat[3][3] = in_d33; 00311 } 00312 00313 SICPPSDK_INLINE CMatrix4::CMatrix4(const CMatrix4& in_matrix4) 00314 { 00315 m_dMat[0][0] = in_matrix4.m_dMat[0][0]; 00316 m_dMat[0][1] = in_matrix4.m_dMat[0][1]; 00317 m_dMat[0][2] = in_matrix4.m_dMat[0][2]; 00318 m_dMat[0][3] = in_matrix4.m_dMat[0][3]; 00319 m_dMat[1][0] = in_matrix4.m_dMat[1][0]; 00320 m_dMat[1][1] = in_matrix4.m_dMat[1][1]; 00321 m_dMat[1][2] = in_matrix4.m_dMat[1][2]; 00322 m_dMat[1][3] = in_matrix4.m_dMat[1][3]; 00323 m_dMat[2][0] = in_matrix4.m_dMat[2][0]; 00324 m_dMat[2][1] = in_matrix4.m_dMat[2][1]; 00325 m_dMat[2][2] = in_matrix4.m_dMat[2][2]; 00326 m_dMat[2][3] = in_matrix4.m_dMat[2][3]; 00327 m_dMat[3][0] = in_matrix4.m_dMat[3][0]; 00328 m_dMat[3][1] = in_matrix4.m_dMat[3][1]; 00329 m_dMat[3][2] = in_matrix4.m_dMat[3][2]; 00330 m_dMat[3][3] = in_matrix4.m_dMat[3][3]; 00331 } 00332 00333 SICPPSDK_INLINE CMatrix4::~CMatrix4() 00334 {} 00335 00336 SICPPSDK_INLINE CMatrix4& CMatrix4::operator=( const CMatrix4 & in_matrix4 ) 00337 { 00338 m_dMat[0][0] = in_matrix4.m_dMat[0][0]; 00339 m_dMat[0][1] = in_matrix4.m_dMat[0][1]; 00340 m_dMat[0][2] = in_matrix4.m_dMat[0][2]; 00341 m_dMat[0][3] = in_matrix4.m_dMat[0][3]; 00342 m_dMat[1][0] = in_matrix4.m_dMat[1][0]; 00343 m_dMat[1][1] = in_matrix4.m_dMat[1][1]; 00344 m_dMat[1][2] = in_matrix4.m_dMat[1][2]; 00345 m_dMat[1][3] = in_matrix4.m_dMat[1][3]; 00346 m_dMat[2][0] = in_matrix4.m_dMat[2][0]; 00347 m_dMat[2][1] = in_matrix4.m_dMat[2][1]; 00348 m_dMat[2][2] = in_matrix4.m_dMat[2][2]; 00349 m_dMat[2][3] = in_matrix4.m_dMat[2][3]; 00350 m_dMat[3][0] = in_matrix4.m_dMat[3][0]; 00351 m_dMat[3][1] = in_matrix4.m_dMat[3][1]; 00352 m_dMat[3][2] = in_matrix4.m_dMat[3][2]; 00353 m_dMat[3][3] = in_matrix4.m_dMat[3][3]; 00354 return *this; 00355 } 00356 00357 SICPPSDK_INLINE CMatrix4& CMatrix4::operator*=(const CMatrix4& in_matrix4) 00358 { 00359 return MulInPlace(in_matrix4); 00360 } 00361 00362 SICPPSDK_INLINE CMatrix4& CMatrix4::SetIdentity() 00363 { 00364 m_dMat[0][0] = 1.0; 00365 m_dMat[0][1] = 0.0; 00366 m_dMat[0][2] = 0.0; 00367 m_dMat[0][3] = 0.0; 00368 m_dMat[1][0] = 0.0; 00369 m_dMat[1][1] = 1.0; 00370 m_dMat[1][2] = 0.0; 00371 m_dMat[1][3] = 0.0; 00372 m_dMat[2][0] = 0.0; 00373 m_dMat[2][1] = 0.0; 00374 m_dMat[2][2] = 1.0; 00375 m_dMat[2][3] = 0.0; 00376 m_dMat[3][0] = 0.0; 00377 m_dMat[3][1] = 0.0; 00378 m_dMat[3][2] = 0.0; 00379 m_dMat[3][3] = 1.0; 00380 return *this; 00381 } 00382 00383 SICPPSDK_INLINE void CMatrix4::TransposeInPlace() 00384 { 00385 Transpose(*this); 00386 } 00387 00388 SICPPSDK_INLINE void CMatrix4::Transpose(const CMatrix4& in_matrix4) 00389 { 00390 double dTempMat[4][4]; 00391 for(int nR=0; nR<4; nR++) 00392 for(int nC=0; nC<4; nC++) 00393 dTempMat[nR][nC] = in_matrix4.m_dMat[nC][nR]; 00394 Set(dTempMat); 00395 } 00396 00397 SICPPSDK_INLINE CMatrix4& CMatrix4::MulInPlace(const CMatrix4& in_matrix4) 00398 { 00399 return Mul(*this,in_matrix4); 00400 } 00401 00402 SICPPSDK_INLINE CMatrix4& CMatrix4::Mul 00403 ( 00404 const CMatrix4& in_matrix4A, 00405 const CMatrix4& in_matrix4B 00406 ) 00407 { 00408 double dTempMat[4][4]; 00409 00410 for(int nR=0; nR<4; nR++) 00411 for(int nC=0; nC<4; nC++) 00412 dTempMat[nR][nC] = 00413 in_matrix4A.m_dMat[nR][0] * in_matrix4B.m_dMat[0][nC] + 00414 in_matrix4A.m_dMat[nR][1] * in_matrix4B.m_dMat[1][nC] + 00415 in_matrix4A.m_dMat[nR][2] * in_matrix4B.m_dMat[2][nC] + 00416 in_matrix4A.m_dMat[nR][3] * in_matrix4B.m_dMat[3][nC]; 00417 00418 Set(dTempMat); 00419 return (*this); 00420 } 00421 00422 SICPPSDK_INLINE void CMatrix4::Get 00423 ( 00424 double& io_d00, double& io_d01, double& io_d02, double& io_d03, 00425 double& io_d10, double& io_d11, double& io_d12, double& io_d13, 00426 double& io_d20, double& io_d21, double& io_d22, double& io_d23, 00427 double& io_d30, double& io_d31, double& io_d32, double& io_d33 00428 ) const 00429 { 00430 00431 io_d00 = m_dMat[0][0]; 00432 io_d01 = m_dMat[0][1]; 00433 io_d02 = m_dMat[0][2]; 00434 io_d03 = m_dMat[0][3]; 00435 io_d10 = m_dMat[1][0]; 00436 io_d11 = m_dMat[1][1]; 00437 io_d12 = m_dMat[1][2]; 00438 io_d13 = m_dMat[1][3]; 00439 io_d20 = m_dMat[2][0]; 00440 io_d21 = m_dMat[2][1]; 00441 io_d22 = m_dMat[2][2]; 00442 io_d23 = m_dMat[2][3]; 00443 io_d30 = m_dMat[3][0]; 00444 io_d31 = m_dMat[3][1]; 00445 io_d32 = m_dMat[3][2]; 00446 io_d33 = m_dMat[3][3]; 00447 } 00448 00449 SICPPSDK_INLINE void CMatrix4::Set 00450 ( 00451 double in_d00, double in_d01, double in_d02, double in_d03, 00452 double in_d10, double in_d11, double in_d12, double in_d13, 00453 double in_d20, double in_d21, double in_d22, double in_d23, 00454 double in_d30, double in_d31, double in_d32, double in_d33 00455 ) 00456 { 00457 m_dMat[0][0] = in_d00; 00458 m_dMat[0][1] = in_d01; 00459 m_dMat[0][2] = in_d02; 00460 m_dMat[0][3] = in_d03; 00461 m_dMat[1][0] = in_d10; 00462 m_dMat[1][1] = in_d11; 00463 m_dMat[1][2] = in_d12; 00464 m_dMat[1][3] = in_d13; 00465 m_dMat[2][0] = in_d20; 00466 m_dMat[2][1] = in_d21; 00467 m_dMat[2][2] = in_d22; 00468 m_dMat[2][3] = in_d23; 00469 m_dMat[3][0] = in_d30; 00470 m_dMat[3][1] = in_d31; 00471 m_dMat[3][2] = in_d32; 00472 m_dMat[3][3] = in_d33; 00473 } 00474 00475 SICPPSDK_INLINE void CMatrix4::Set(const double in_matrix4[4][4]) 00476 { 00477 m_dMat[0][0] = in_matrix4[0][0]; 00478 m_dMat[0][1] = in_matrix4[0][1]; 00479 m_dMat[0][2] = in_matrix4[0][2]; 00480 m_dMat[0][3] = in_matrix4[0][3]; 00481 m_dMat[1][0] = in_matrix4[1][0]; 00482 m_dMat[1][1] = in_matrix4[1][1]; 00483 m_dMat[1][2] = in_matrix4[1][2]; 00484 m_dMat[1][3] = in_matrix4[1][3]; 00485 m_dMat[2][0] = in_matrix4[2][0]; 00486 m_dMat[2][1] = in_matrix4[2][1]; 00487 m_dMat[2][2] = in_matrix4[2][2]; 00488 m_dMat[2][3] = in_matrix4[2][3]; 00489 m_dMat[3][0] = in_matrix4[3][0]; 00490 m_dMat[3][1] = in_matrix4[3][1]; 00491 m_dMat[3][2] = in_matrix4[3][2]; 00492 m_dMat[3][3] = in_matrix4[3][3]; 00493 } 00494 00495 00496 SICPPSDK_INLINE double CMatrix4::GetValue(short in_sRow,short in_sCol ) const 00497 { 00498 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && 00499 in_sRow <=3 && in_sCol <= 3); 00500 assert(l_bValidIndex); 00501 00502 if(l_bValidIndex) 00503 { 00504 return m_dMat[in_sRow][in_sCol]; 00505 } 00506 return 0.0; 00507 00508 } 00509 00510 SICPPSDK_INLINE void CMatrix4::SetValue(short in_sRow, short in_sCol, double in_dVal ) 00511 { 00512 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && 00513 in_sRow <=3 && in_sCol <= 3); 00514 00515 assert(l_bValidIndex); 00516 if(l_bValidIndex) 00517 { 00518 m_dMat[in_sRow][in_sCol] = in_dVal; 00519 } 00520 } 00521 00522 SICPPSDK_INLINE bool CMatrix4::Equals(const CMatrix4& in_matrix4) const 00523 { 00524 return (this == &in_matrix4) ? true : 00525 m_dMat[0][0] == in_matrix4.m_dMat[0][0] && 00526 m_dMat[0][1] == in_matrix4.m_dMat[0][1] && 00527 m_dMat[0][2] == in_matrix4.m_dMat[0][2] && 00528 m_dMat[0][3] == in_matrix4.m_dMat[0][3] && 00529 m_dMat[1][0] == in_matrix4.m_dMat[1][0] && 00530 m_dMat[1][1] == in_matrix4.m_dMat[1][1] && 00531 m_dMat[1][2] == in_matrix4.m_dMat[1][2] && 00532 m_dMat[1][3] == in_matrix4.m_dMat[1][3] && 00533 m_dMat[2][0] == in_matrix4.m_dMat[2][0] && 00534 m_dMat[2][1] == in_matrix4.m_dMat[2][1] && 00535 m_dMat[2][2] == in_matrix4.m_dMat[2][2] && 00536 m_dMat[2][3] == in_matrix4.m_dMat[2][3] && 00537 m_dMat[3][0] == in_matrix4.m_dMat[3][0] && 00538 m_dMat[3][1] == in_matrix4.m_dMat[3][1] && 00539 m_dMat[3][2] == in_matrix4.m_dMat[3][2] && 00540 m_dMat[3][3] == in_matrix4.m_dMat[3][3]; 00541 } 00542 00543 SICPPSDK_INLINE bool CMatrix4::operator ==(const CMatrix4 & in_matrix4 ) const 00544 { 00545 return Equals( in_matrix4 ); 00546 } 00547 00548 SICPPSDK_INLINE bool CMatrix4::operator !=(const CMatrix4 & in_matrix4 ) const 00549 { 00550 return ! Equals( in_matrix4 ); 00551 } 00552 00553 00554 00555 }; 00556 }; 00557 00558 #endif // __XSIMATRIX4_H__