extreme refactoring

[chaz/yoink] / src / cml / mathlib / matrix_misc.h

diff --git a/src/cml/mathlib/matrix_misc.h b/src/cml/mathlib/matrix_misc.h
deleted file mode 100644 (file)
index c36a399..0000000
--- a/src/cml/mathlib/matrix_misc.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/* -*- C++ -*- ------------------------------------------------------------
- 
-Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
-
-The Configurable Math Library (CML) is distributed under the terms of the
-Boost Software License, v1.0 (see cml/LICENSE for details).
-
- *-----------------------------------------------------------------------*/
-/** @file
- *  @brief
- */
-
-#ifndef matrix_misc_h
-#define matrix_misc_h
-
-#include <cml/mathlib/checking.h>
-
-/* Miscellaneous matrix functions. */
-
-namespace cml {
-
-/** Set a (possibly non-square) matrix to represent an identity transform */
-template < typename E, class A, class B, class L > void
-identity_transform(matrix<E,A,B,L>& m)
-{
-    typedef matrix<E,A,B,L> matrix_type;
-    typedef typename matrix_type::value_type value_type;
-
-    for (size_t i = 0; i < m.rows(); ++i) {
-        for (size_t j = 0; j < m.cols(); ++j) {
-            m(i,j) = value_type((i == j) ? 1 : 0);
-        }
-    }
-}
-
-/** Trace of a square matrix */
-template < class MatT > typename MatT::value_type
-trace(const MatT& m)
-{
-    typedef typename MatT::value_type value_type;
-    
-    /* Checking */
-    detail::CheckMatSquare(m);
-
-    value_type t = value_type(0);
-    for (size_t i = 0; i < m.rows(); ++i) {
-        t += m(i,i);
-    }
-    return t;
-}
-
-/** Trace of the upper-left 3x3 part of a matrix */
-template < class MatT > typename MatT::value_type
-trace_3x3(const MatT& m)
-{
-    /* Checking */
-    detail::CheckMatMin3x3(m);
-    
-    return m(0,0) + m(1,1) + m(2,2);
-}
-
-/** Trace of the upper-left 2x2 part of a matrix */
-template < class MatT > typename MatT::value_type
-trace_2x2(const MatT& m)
-{
-    /* Checking */
-    detail::CheckMatMin2x2(m);
-    
-    return m(0,0) + m(1,1);
-}
-
-/** 3D skew-symmetric matrix */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_skew_symmetric(matrix<E,A,B,L>& m, const VecT& v)
-{
-    /* Checking */
-    detail::CheckMatMin3x3(m);
-    detail::CheckVec3(v);
-
-    m.zero();
-
-    m.set_basis_element(1,2, v[0]);
-    m.set_basis_element(2,1,-v[0]);
-    m.set_basis_element(2,0, v[1]);
-    m.set_basis_element(0,2,-v[1]);
-    m.set_basis_element(0,1, v[2]);
-    m.set_basis_element(1,0,-v[2]);
-}
-
-/** 2D skew-symmetric matrix */
-template < typename E, class A, class B, class L > void
-matrix_skew_symmetric_2D(matrix<E,A,B,L>& m, E s)
-{
-    /* Checking */
-    detail::CheckMatMin2x2(m);
-
-    m.zero();
-
-    m.set_basis_element(0,1, s);
-    m.set_basis_element(1,0,-s);
-}
-
-/* @todo: Clean this up, and implement SRT as well */
-
-/** Invert a matrix consisting of a 3D rotation and translation */
-template < typename E, class A, class B, class L > void
-matrix_invert_RT_only(matrix<E,A,B,L>& m)
-{
-    typedef vector< E, fixed<3> > vector_type;
-
-    vector_type x, y, z;
-    matrix_get_basis_vectors(m,x,y,z);
-    matrix_set_transposed_basis_vectors(m,x,y,z);
-    
-    vector_type p = matrix_get_translation(m);
-    matrix_set_translation(m,-dot(p,x),-dot(p,y),-dot(p,z));
-}
-
-/** Invert a matrix consisting of a 2D rotation and ranslation */
-template < typename E, class A, class B, class L > void
-matrix_invert_RT_only_2D(matrix<E,A,B,L>& m)
-{
-    typedef vector< E, fixed<2> > vector_type;
-
-    vector_type x, y;
-    matrix_get_basis_vectors_2D(m,x,y);
-    matrix_set_transposed_basis_vectors_2D(m,x,y);
-    
-    vector_type p = matrix_get_translation_2D(m);
-    matrix_set_translation_2D(m,-dot(p,x),-dot(p,y));
-}
-
-} // namespace cml
-
-#endif