Dogcows Code - chaz/yoink/blob - src/cml/mathlib/matrix_translation.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_translation_h
  14 #define matrix_translation_h
  15
  16 #include <cml/mathlib/checking.h>
  17
  18 /* Functions for getting and setting the translation of a 3D or 2D affine
  19  * transform.
  20  */
  21
  22 namespace cml {
  23
  24 //////////////////////////////////////////////////////////////////////////////
  25 // Functions for setting the translation of a 3D or 2D affine transform matrix
  26 //////////////////////////////////////////////////////////////////////////////
  27
  28 /** Set the translation of a 3D affine transform */
  29 template < typename E, class A, class B, class L > void
  30 matrix_set_translation(matrix<E,A,B,L>& m, E x, E y, E z)
  31 {
  32     /* Checking */
  33     detail::CheckMatAffine3D(m);
  34
  35     m.set_basis_element(3,0,x);
  36     m.set_basis_element(3,1,y);
  37     m.set_basis_element(3,2,z);
  38 }
  39
  40 /** Set the translation of a 3D affine transform with z set to 0 */
  41 template < typename E, class A, class B, class L > void
  42 matrix_set_translation(matrix<E,A,B,L>& m, E x, E y)
  43 {
  44     typedef matrix<E,A,B,L> matrix_type;
  45     typedef typename matrix_type::value_type value_type;
  46
  47     matrix_set_translation(m, x, y, value_type(0));
  48 }
  49
  50 /** Set the translation of a 3D affine transform from a 3D or 2D vector */
  51 template < typename E, class A, class B, class L, class VecT > void
  52 matrix_set_translation(matrix<E,A,B,L>& m, const VecT& translation)
  53 {
  54     /* Checking */
  55     detail::CheckVec2Or3(translation);
  56
  57     if (translation.size() == 3) {
  58         matrix_set_translation(
  59             m,translation[0], translation[1], translation[2]);
  60     } else { // translation.size() == 2
  61         matrix_set_translation(m, translation[0], translation[1]);
  62     }
  63 }
  64
  65 /** Set the translation of a 2D affine transform */
  66 template < typename E, class A, class B, class L > void
  67 matrix_set_translation_2D(matrix<E,A,B,L>& m, E x, E y)
  68 {
  69     /* Checking */
  70     detail::CheckMatAffine2D(m);
  71
  72     m.set_basis_element(2,0,x);
  73     m.set_basis_element(2,1,y);
  74 }
  75
  76 /** Set the translation of a 2D affine transform from a 2D vector */
  77 template < typename E, class A, class B, class L, class VecT > void
  78 matrix_set_translation_2D(matrix<E,A,B,L>& m, const VecT& translation)
  79 {
  80     /* Checking */
  81     detail::CheckVec2(translation);
  82
  83     matrix_set_translation_2D(m, translation[0], translation[1]);
  84 }
  85
  86 //////////////////////////////////////////////////////////////////////////////
  87 // Functions for getting the translation of a 3D or 2D affine transform matrix
  88 //////////////////////////////////////////////////////////////////////////////
  89
  90 /** Get the translation of a 3D affine transform */
  91 template < class MatT > vector< typename MatT::value_type, fixed<3> >
  92 matrix_get_translation(const MatT& m)
  93 {
  94     typedef typename MatT::value_type value_type;
  95     typedef vector< value_type, fixed<3> > vector_type;
  96
  97     /* Checking */
  98     detail::CheckMatAffine3D(m);
  99
 100     return vector_type(
 101         m.basis_element(3,0),
 102         m.basis_element(3,1),
 103         m.basis_element(3,2)
 104     );
 105 }
 106
 107 /** Get the translation of a 2D affine transform */
 108 template < class MatT > vector< typename MatT::value_type, fixed<2> >
 109 matrix_get_translation_2D(const MatT& m)
 110 {
 111     typedef typename MatT::value_type value_type;
 112     typedef vector< value_type, fixed<2> > vector_type;
 113
 114     /* Checking */
 115     detail::CheckMatAffine2D(m);
 116
 117     return vector_type(m.basis_element(2,0), m.basis_element(2,1));
 118 }
 119
 120 //////////////////////////////////////////////////////////////////////////////
 121 // Function for getting the translation of a 3D view matrix
 122 //////////////////////////////////////////////////////////////////////////////
 123
 124 /** Get the translation of a 3D affine transform */
 125 template < class MatT > vector< typename MatT::value_type, fixed<3> >
 126 matrix_get_view_translation(const MatT& m)
 127 {
 128     typedef typename MatT::value_type value_type;
 129     typedef vector< value_type, fixed<3> > vector_type;
 130
 131     vector_type x, y, z;
 132     matrix_get_basis_vectors(m,x,y,z);
 133     vector_type p = matrix_get_translation(m);
 134     return vector_type(-dot(p,x),-dot(p,y),-dot(p,z));
 135 }
 136
 137 } // namespace cml
 138
 139 #endif