Dogcows Code - chaz/yoink/blob - src/Moof/cml/mathlib/matrix_concat.h

   1 /* -*- C++ -*- ------------------------------------------------------------
   2
   3 Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
   4
   5 The Configurable Math Library (CML) is distributed under the terms of the
   6 Boost Software License, v1.0 (see cml/LICENSE for details).
   7
   8  *-----------------------------------------------------------------------*/
   9 /** @file
  10  *  @brief
  11  */
  12
  13 #ifndef matrix_concat_h
  14 #define matrix_concat_h
  15
  16 #include <cml/matrix/matrix_expr.h>
  17
  18 /* This will all most likely be abstracted away in a future version of the
  19  * CML. For now, this file provides support for functions that need to
  20  * concatenate transformation matrices in a basis-independent manner.
  21  *
  22  * @todo: The 2x2 and 3x3 versions of these functions are currently in
  23  * matrix_rotation.h. They should be moved here.
  24  */
  25
  26 namespace cml {
  27 namespace detail {
  28
  29 /** A fixed-size temporary 4x4 matrix */
  30 #define MAT_TEMP_4X4 matrix<         \
  31     typename et::ScalarPromote<      \
  32         typename MatT_1::value_type, \
  33         typename MatT_2::value_type  \
  34     >::type,                         \
  35     fixed<4,4>,                      \
  36     typename MatT_1::basis_orient,   \
  37     typename MatT_1::layout          \
  38 >
  39
  40 template < class MatT_1, class MatT_2 > MAT_TEMP_4X4
  41 matrix_concat_transforms_4x4(const MatT_1& m1, const MatT_2& m2, row_basis) {
  42     return m1*m2;
  43 }
  44
  45 /** Concatenate two 3D col-basis rotation matrices in the order m1->m2 */
  46 template < class MatT_1, class MatT_2 > MAT_TEMP_4X4
  47 matrix_concat_transforms_4x4(const MatT_1& m1, const MatT_2& m2, col_basis) {
  48     return m2*m1;
  49 }
  50
  51 /** Concatenate two 3D rotation matrices in the order m1->m2 */
  52 template < class MatT_1, class MatT_2 > MAT_TEMP_4X4
  53 matrix_concat_transforms_4x4(const MatT_1& m1, const MatT_2& m2) {
  54     return matrix_concat_transforms_4x4(m1,m2,typename MatT_1::basis_orient());
  55 }
  56
  57 #undef MAT_TEMP_4x4
  58
  59 } // namespace detail
  60 } // namespace cml
  61
  62 #endif