+++ /dev/null
-/* -*- 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_transform_h
-#define matrix_transform_h
-
-#include <cml/mathlib/matrix_basis.h>
-#include <cml/mathlib/matrix_rotation.h>
-#include <cml/mathlib/matrix_translation.h>
-
-/* Functions for building matrix transforms other than rotations
- * (matrix_rotation.h) and viewing projections (matrix_projection.h).
- */
-
-namespace cml {
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D translation
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 3D translation */
-template < typename E, class A, class B, class L > void
-matrix_translation(matrix<E,A,B,L>& m, E x, E y, E z)
-{
- identity_transform(m);
- matrix_set_translation(m,x,y,z);
-}
-
-/** Build a matrix representing a 3D translation with z set to 0 */
-template < typename E, class A, class B, class L > void
-matrix_translation(matrix<E,A,B,L>& m, E x, E y)
-{
- identity_transform(m);
- matrix_set_translation(m,x,y);
-}
-
-/** Build a matrix representing a 3D translation */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_translation(matrix<E,A,B,L>& m, const VecT& translation)
-{
- identity_transform(m);
- matrix_set_translation(m,translation);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D translation
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 2D translation */
-template < typename E, class A, class B, class L > void
-matrix_translation_2D(matrix<E,A,B,L>& m, E x, E y)
-{
- identity_transform(m);
- matrix_set_translation_2D(m,x,y);
-}
-
-/** Build a matrix representing a 2D translation */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_translation_2D(matrix<E,A,B,L>& m, const VecT& translation)
-{
- identity_transform(m);
- matrix_set_translation_2D(m, translation);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D scale
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a uniform 3D scale */
-template < typename E, class A, class B, class L > void
-matrix_uniform_scale(matrix<E,A,B,L>& m, E scale) {
- matrix_scale(m,scale,scale,scale);
-}
-
-/** Build a matrix representing a non-uniform 3D scale */
-template < typename E, class A, class B, class L > void
-matrix_scale(matrix<E,A,B,L>& m, E scale_x, E scale_y, E scale_z)
-{
- /* Checking */
- detail::CheckMatLinear3D(m);
-
- identity_transform(m);
-
- m.set_basis_element(0,0,scale_x);
- m.set_basis_element(1,1,scale_y);
- m.set_basis_element(2,2,scale_z);
-}
-
-/** Build a matrix representing a non-uniform 3D scale */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_scale(matrix<E,A,B,L>& m, const VecT& scale)
-{
- /* Checking */
- detail::CheckVec3(scale);
-
- matrix_scale(m, scale[0], scale[1], scale[2]);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D scale
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a uniform 2D scale */
-template < typename E, class A, class B, class L > void
-matrix_uniform_scale_2D(matrix<E,A,B,L>& m, E scale) {
- matrix_scale_2D(m,scale,scale);
-}
-
-/** Build a matrix representing a non-uniform 2D scale */
-template < typename E, class A, class B, class L > void
-matrix_scale_2D(matrix<E,A,B,L>& m, E scale_x, E scale_y)
-{
- /* Checking */
- detail::CheckMatLinear2D(m);
-
- identity_transform(m);
-
- m.set_basis_element(0,0,scale_x);
- m.set_basis_element(1,1,scale_y);
-}
-
-/** Build a matrix representing a non-uniform 2D scale */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_scale_2D(matrix<E,A,B,L>& m, const VecT& scale)
-{
- /* Checking */
- detail::CheckVec2(scale);
-
- matrix_scale_2D(m, scale[0], scale[1]);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D scale along axis
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 3D scale along an arbitrary axis */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_scale_along_axis(matrix<E,A,B,L>&m, const VecT& axis, E scale)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- /* Checking */
- detail::CheckVec3(axis);
-
- matrix<E,fixed<3,3>,B,L> outer_p = outer(axis,axis)*(scale-value_type(1));
- outer_p(0,0) += value_type(1);
- outer_p(1,1) += value_type(1);
- outer_p(2,2) += value_type(1);
-
- matrix_linear_transform(m, outer_p);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D scale along axis
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 2D scale along an arbitrary axis */
-template < typename E, class A, class B, class L, class VecT >
-void matrix_scale_along_axis_2D(matrix<E,A,B,L>& m, const VecT& axis,
- E scale)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- /* Checking */
- detail::CheckVec2(axis);
-
- matrix<E,fixed<2,2>,B,L> outer_p = outer(axis,axis)*(scale-value_type(1));
- outer_p(0,0) += value_type(1);
- outer_p(1,1) += value_type(1);
-
- matrix_linear_transform_2D(m, outer_p);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D shear
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 3D shear along the specified world axis */
-template < typename E, class A, class B, class L > void
-matrix_shear(matrix<E,A,B,L>& m, size_t axis, E shear_s, E shear_t)
-{
- /* Checking */
- detail::CheckMatLinear3D(m);
- detail::CheckIndex3(axis);
-
- identity_transform(m);
-
- size_t i, j, k;
- cyclic_permutation(axis, i, j, k);
-
- m.set_basis_element(i,j,shear_s);
- m.set_basis_element(i,k,shear_t);
-}
-
-/** Build a matrix representing a 3D shear along the world x axis */
-template < typename E, class A, class B, class L > void
-matrix_shear_x(matrix<E,A,B,L>& m, E shear_s, E shear_t) {
- matrix_shear(m,0,shear_s,shear_t);
-}
-
-/** Build a matrix representing a 3D shear along the world y axis */
-template < typename E, class A, class B, class L > void
-matrix_shear_y(matrix<E,A,B,L>& m, E shear_s, E shear_t) {
- matrix_shear(m,1,shear_s,shear_t);
-}
-
-/** Build a matrix representing a 3D shear along the world z axis */
-template < typename E, class A, class B, class L > void
-matrix_shear_z(matrix<E,A,B,L>& m, E shear_s, E shear_t) {
- matrix_shear(m,2,shear_s,shear_t);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D shear
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 2D shear along the specified world axis */
-template < typename E, class A, class B, class L > void
-matrix_shear_2D(matrix<E,A,B,L>& m, size_t axis, E shear)
-{
- /* Checking */
- detail::CheckMatLinear2D(m);
- detail::CheckIndex2(axis);
-
- identity_transform(m);
-
- size_t i, j;
- cyclic_permutation(axis, i, j);
-
- m.set_basis_element(i,j,shear);
-}
-
-/** Build a matrix representing a 2D shear along the world x axis */
-template < typename E, class A, class B, class L > void
-matrix_shear_x_2D(matrix<E,A,B,L>& m, E shear) {
- matrix_shear_2D(m,0,shear);
-}
-
-/** Build a matrix representing a 2D shear along the world y axis */
-template < typename E, class A, class B, class L > void
-matrix_shear_y_2D(matrix<E,A,B,L>& m, E shear) {
- matrix_shear_2D(m,1,shear);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D reflection
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 3D reflection along the given world axis */
-template < typename E, class A, class B, class L > void
-matrix_reflect(matrix<E,A,B,L>& m, size_t axis)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- /* Checking */
- detail::CheckMatLinear3D(m);
- detail::CheckIndex3(axis);
-
- identity_transform(m);
-
- m(axis,axis) = value_type(-1);
-}
-
-/** Build a matrix representing a 3D reflection along the world x axis */
-template < typename E, class A, class B, class L > void
-matrix_reflect_x(matrix<E,A,B,L>& m) {
- matrix_reflect(m,0);
-}
-
-/** Build a matrix representing a 3D reflection along the world y axis */
-template < typename E, class A, class B, class L > void
-matrix_reflect_y(matrix<E,A,B,L>& m) {
- matrix_reflect(m,1);
-}
-
-/** Build a matrix representing a 3D reflection along the world z axis */
-template < typename E, class A, class B, class L > void
-matrix_reflect_z(matrix<E,A,B,L>& m) {
- matrix_reflect(m,2);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D reflection
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 2D reflection along the given world axis */
-template < typename E, class A, class B, class L > void
-matrix_reflect_2D(matrix<E,A,B,L>& m, size_t axis)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- /* Checking */
- detail::CheckMatLinear2D(m);
- detail::CheckIndex2(axis);
-
- identity_transform(m);
-
- m(axis,axis) = value_type(-1);
-}
-
-/** Build a matrix representing a 2D reflection along the world x axis */
-template < typename E, class A, class B, class L > void
-matrix_reflect_x_2D(matrix<E,A,B,L>& m) {
- matrix_reflect_2D(m,0);
-}
-
-/** Build a matrix representing a 2D reflection along the world y axis */
-template < typename E, class A, class B, class L > void
-matrix_reflect_y_2D(matrix<E,A,B,L>& m) {
- matrix_reflect_2D(m,1);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D reflection about hyperplane
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 3D reflection about the given hyperplane */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_reflect_about_hplane(matrix<E,A,B,L>& m, const VecT& normal)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- matrix_scale_along_axis(m, normal, value_type(-1));
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D reflection about hyperplane
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 2D reflection about the given hyperplane */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_reflect_about_hplane_2D(matrix<E,A,B,L>&m, const VecT& normal)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- matrix_scale_along_axis_2D(m, normal, value_type(-1));
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D orthographic projection to cardinal hyperplane
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing an orthographic projection onto a plane */
-template < typename E, class A, class B, class L > void
-matrix_ortho_project(matrix<E,A,B,L>& m, size_t axis)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- /* Checking */
- detail::CheckMatLinear3D(m);
- detail::CheckIndex3(axis);
-
- identity_transform(m);
-
- m(axis,axis) = value_type(0);
-}
-
-/** Build a matrix representing an orthographic projection onto the yz plane*/
-template < typename E, class A, class B, class L > void
-matrix_ortho_project_yz(matrix<E,A,B,L>& m) {
- matrix_ortho_project(m,0);
-}
-
-/** Build a matrix representing an orthographic projection onto the zx plane*/
-template < typename E, class A, class B, class L > void
-matrix_ortho_project_zx(matrix<E,A,B,L>& m) {
- matrix_ortho_project(m,1);
-}
-
-/** Build a matrix representing an orthographic projection onto the zy plane*/
-template < typename E, class A, class B, class L > void
-matrix_ortho_project_xy(matrix<E,A,B,L>& m) {
- matrix_ortho_project(m,2);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D orthographic projection to cardinal hyperplane
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 2D orthographic projection */
-template < typename E, class A, class B, class L > void
-matrix_ortho_project_2D(matrix<E,A,B,L>& m, size_t axis)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- /* Checking */
- detail::CheckMatLinear2D(m);
- detail::CheckIndex2(axis);
-
- identity_transform(m);
-
- m(axis,axis) = value_type(0);
-}
-
-/** Build a matrix representing an orthographic projection onto the y axis */
-template < typename E, class A, class B, class L > void
-matrix_ortho_project_y_2D(matrix<E,A,B,L>& m) {
- matrix_ortho_project_2D(m,0);
-}
-
-/** Build a matrix representing an orthographic projection onto the x axis */
-template < typename E, class A, class B, class L > void
-matrix_ortho_project_x_2D(matrix<E,A,B,L>& m) {
- matrix_ortho_project_2D(m,1);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D orthographic projection to hyperplane
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 3D orthographic projection about the given
- * hyperplane passing through the origin.
- */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_ortho_project_to_hplane(matrix<E,A,B,L>& m, const VecT& normal)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- matrix_scale_along_axis(m, normal, value_type(0));
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D orthographic projection to hyperplane
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 2D orthographic projection about the given
- * hyperplane passing through the origin.
- */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_ortho_project_to_hplane_2D(matrix<E,A,B,L>& m, const VecT& normal)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef typename matrix_type::value_type value_type;
-
- matrix_scale_along_axis_2D(m, normal, value_type(0));
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D 'aim at'
-//////////////////////////////////////////////////////////////////////////////
-
-/** See vector_ortho.h for details */
-template < typename E, class A, class B, class L,
- class VecT_1, class VecT_2, class VecT_3 > void
-matrix_aim_at(matrix<E,A,B,L>& m, const VecT_1& pos, const VecT_2& target,
- const VecT_3& reference,
- AxisOrder order = axis_order_zyx)
-{
- matrix_rotation_aim_at(m, pos, target, reference, order);
- matrix_set_translation(m, pos);
-}
-
-/** See vector_ortho.h for details */
-template < typename E, class A, class B, class L,
- class VecT_1, class VecT_2 > void
-matrix_aim_at(matrix<E,A,B,L>& m, const VecT_1& pos, const VecT_2& target,
- AxisOrder order = axis_order_zyx)
-{
- matrix_rotation_aim_at(m, pos, target, order);
- matrix_set_translation(m, pos);
-}
-
-/** See vector_ortho.h for details */
-template < typename E, class A, class B, class L,
- class VecT_1, class VecT_2, class VecT_3 > void
-matrix_aim_at_axial(
- matrix<E,A,B,L>& m,
- const VecT_1& pos,
- const VecT_2& target,
- const VecT_3& axis,
- AxisOrder order = axis_order_zyx)
-{
- matrix_rotation_aim_at_axial(m, pos, target, axis, order);
- matrix_set_translation(m, pos);
-}
-
-/** See vector_ortho.h for details */
-template < typename E,class A,class B,class L,class VecT,class MatT > void
-matrix_aim_at_viewplane(
- matrix<E,A,B,L>& m,
- const VecT& pos,
- const MatT& view_matrix,
- Handedness handedness,
- AxisOrder order = axis_order_zyx)
-{
- matrix_rotation_align_viewplane(m, view_matrix, handedness, order);
- matrix_set_translation(m, pos);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D 'aim at'
-//////////////////////////////////////////////////////////////////////////////
-
-/** See vector_ortho.h for details */
-template < typename E,class A,class B,class L,class VecT_1,class VecT_2 > void
-matrix_aim_at_2D(
- matrix<E,A,B,L>& m,
- const VecT_1& pos,
- const VecT_2& target,
- AxisOrder2D order = axis_order_xy)
-{
- matrix_rotation_align_2D(m, target - pos, true, order);
- matrix_set_translation_2D(m, pos);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D 'look at' view matrix
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix representing a 'look at' view transform */
-template < typename E, class A, class B, class L,
- class VecT_1, class VecT_2, class VecT_3 > void
-matrix_look_at(
- matrix<E,A,B,L>& m,
- const VecT_1& eye,
- const VecT_2& target,
- const VecT_3& up,
- Handedness handedness)
-{
- typedef matrix<E,A,B,L> matrix_type;
- typedef vector< E,fixed<3> > vector_type;
- typedef typename matrix_type::value_type value_type;
-
- /* Checking */
- detail::CheckMatAffine3D(m);
-
- identity_transform(m);
-
- value_type s = handedness == left_handed ? 1 : -1;
- vector_type z = s * normalize(target - eye);
- vector_type x = unit_cross(up,z);
- vector_type y = cross(z,x);
-
- matrix_set_transposed_basis_vectors(m,x,y,z);
- matrix_set_translation(m,-dot(eye,x),-dot(eye,y),-dot(eye,z));
-}
-
-/** Build a matrix representing a left-handedness 'look at' view transform */
-template < typename E, class A, class B, class L,
- class VecT_1, class VecT_2, class VecT_3 > void
-matrix_look_at_LH(matrix<E,A,B,L>& m, const VecT_1& eye,
- const VecT_2& target, const VecT_3& up)
-{
- matrix_look_at(m, eye, target, up, left_handed);
-}
-
-/** Build a matrix representing a right-handedness 'look at' view transform */
-template < typename E, class A, class B, class L,
- class VecT_1, class VecT_2, class VecT_3 > void
-matrix_look_at_RH(matrix<E,A,B,L>& m, const VecT_1& eye,
- const VecT_2& target, const VecT_3& up)
-{
- matrix_look_at(m, eye, target, up, right_handed);
-}
-
-/** Build a matrix representing a 'look at' view transform */
-template < typename E, class A, class B, class L > void
-matrix_look_at(matrix<E,A,B,L>& m, E eye_x, E eye_y, E eye_z, E target_x,
- E target_y, E target_z, E up_x, E up_y, E up_z,
- Handedness handedness)
-{
- typedef vector< E, fixed<3> > vector_type;
-
- matrix_look_at(m,
- vector_type(eye_x,eye_y,eye_z),
- vector_type(target_x,target_y,target_z),
- vector_type(up_x,up_y,up_z),
- handedness
- );
-}
-
-/** Build a matrix representing a left-handed'look at' view transform */
-template < typename E, class A, class B, class L > void
-matrix_look_at_LH(matrix<E,A,B,L>& m, E eye_x, E eye_y, E eye_z,
- E target_x, E target_y, E target_z, E up_x, E up_y, E up_z)
-{
- matrix_look_at(m,eye_x,eye_y,eye_z,target_x,target_y,target_z,up_x,up_y,
- up_z,left_handed);
-}
-
-/** Build a matrix representing a right-handed'look at' view transform */
-template < typename E, class A, class B, class L > void
-matrix_look_at_RH(matrix<E,A,B,L>& m, E eye_x, E eye_y, E eye_z,
- E target_x, E target_y, E target_z, E up_x, E up_y, E up_z)
-{
- matrix_look_at(m,eye_x,eye_y,eye_z,target_x,target_y,target_z,up_x,up_y,
- up_z,right_handed);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D linear transform
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix from the 3x3 linear transform part of another matrix */
-template < typename E, class A, class B, class L, class MatT > void
-matrix_linear_transform(matrix<E,A,B,L>& m, const MatT& linear)
-{
- /* Checking */
- detail::CheckMatLinear3D(m);
- detail::CheckMatLinear3D(linear);
-
- identity_transform(m);
-
- for(size_t i = 0; i < 3; ++i) {
- for(size_t j = 0; j < 3; ++j) {
- m.set_basis_element(i,j,linear.basis_element(i,j));
- }
- }
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D linear transform
-//////////////////////////////////////////////////////////////////////////////
-
-/** Build a matrix from the 2x2 linear transform part of another matrix */
-template < typename E, class A, class B, class L, class MatT > void
-matrix_linear_transform_2D(matrix<E,A,B,L>& m, const MatT& linear)
-{
- /* Checking */
- detail::CheckMatLinear2D(m);
- detail::CheckMatLinear2D(linear);
-
- identity_transform(m);
-
- for(size_t i = 0; i < 2; ++i) {
- for(size_t j = 0; j < 2; ++j) {
- m.set_basis_element(i,j,linear.basis_element(i,j));
- }
- }
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D affine transform
-//////////////////////////////////////////////////////////////////////////////
-
-/** 3D affine transform from three basis vectors and a translation */
-template <typename E, class A, class B, class L,
- class VecT_1, class VecT_2, class VecT_3, class VecT_4 > void
-matrix_affine_transform(matrix<E,A,B,L>& m, const VecT_1& x, const VecT_2& y,
- const VecT_3& z, const VecT_4& translation)
-{
- identity_transform(m);
- matrix_set_basis_vectors(m,x,y,z);
- matrix_set_translation(m,translation);
-}
-
-/** 3D affine transform from a quaternion and a translation */
-template <
- typename E, class A, class B, class L,
- typename QE, class QA, class O, class C, class VecT > void
-matrix_affine_transform(
- matrix<E,A,B,L>& m, const quaternion<QE,QA,O,C>& q,
- const VecT& translation)
-{
- matrix_rotation_quaternion(m,q);
- matrix_set_translation(m,translation);
-}
-
-/** 3D affine transform from a quaternion expression and a translation */
-template < typename E,class A,class B,class L,class XprT,class VecT > void
-matrix_affine_transform(
- matrix<E,A,B,L>& m, const et::QuaternionXpr<XprT>& q,
- const VecT& translation)
-{
- matrix_rotation_quaternion(m,q);
- matrix_set_translation(m,translation);
-}
-
-/** 3D affine transform from an axis-angle pair and a translation */
-template <
- typename E, class A, class B, class L, class VecT_1, class VecT_2 > void
-matrix_affine_transform(
- matrix<E,A,B,L>& m,const VecT_1& axis,E angle,const VecT_2& translation)
-{
- matrix_rotation_axis_angle(m,axis,angle);
- matrix_set_translation(m,translation);
-}
-
-/** 3D affine transform from an Euler-angle triple and a translation */
-template < typename E, class A, class B, class L, class VecT > void
-matrix_affine_transform(matrix<E,A,B,L>& m, E angle_0, E angle_1,
- E angle_2, EulerOrder order, const VecT& translation)
-{
- matrix_rotation_euler(m,angle_0,angle_1,angle_2,order);
- matrix_set_translation(m,translation);
-}
-
-/** 3D affine transform from a matrix and a translation */
-template <
- typename E, class A, class B, class L,
- typename ME, class MA, class MB, class ML, class VecT > void
-matrix_affine_transform(matrix<E,A,B,L>& m,
- const matrix<ME,MA,MB,ML>& linear, const VecT& translation)
-{
- matrix_linear_transform(m,linear);
- matrix_set_translation(m,translation);
-}
-
-/** 3D affine transform from a matrix expression and a translation */
-template < typename E,class A,class B,class L,class XprT,class VecT > void
-matrix_affine_transform(
- matrix<E,A,B,L>& m, const et::MatrixXpr<XprT>& linear,
- const VecT& translation)
-{
- matrix_linear_transform(m,linear);
- matrix_set_translation(m,translation);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 2D affine transform
-//////////////////////////////////////////////////////////////////////////////
-
-/** 2D affine transform from two basis vectors and a translation */
-template <typename E, class A, class B, class L,
- class VecT_1, class VecT_2, class VecT_3 > void
-matrix_affine_transform_2D(matrix<E,A,B,L>& m, const VecT_1& x,
- const VecT_2& y, const VecT_3& translation)
-{
- identity_transform(m);
- matrix_set_basis_vectors_2D(m,x,y);
- matrix_set_translation_2D(m,translation);
-}
-
-/** 2D affine transform from a rotation angle and a translation */
-template <typename E, class A, class B, class L, class VecT >
-void matrix_affine_transform_2D(matrix<E,A,B,L>& m, E angle,
- const VecT& translation)
-{
- matrix_rotation_2D(m,angle);
- matrix_set_translation_2D(m,translation);
-}
-
-/** 2D affine transform from a matrix and a translation */
-template < typename E,class A,class B,class L,class MatT,class VecT > void
-matrix_affine_transform_2D(
- matrix<E,A,B,L>& m, const MatT& linear, const VecT& translation)
-{
- matrix_linear_transform_2D(m, linear);
- matrix_set_translation_2D(m,translation);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D affine from 2D affine
-//////////////////////////////////////////////////////////////////////////////
-
-/** Construct a 3D affine transform from a 2D affine transform */
-template < typename E, class A, class B, class L, class MatT > void
-matrix_3D_affine_from_2D_affine(matrix<E,A,B,L>& m, const MatT& affine_2D)
-{
- typedef vector< E, fixed<2> > vector_type;
-
- vector_type x = matrix_get_x_basis_vector_2D(affine_2D);
- vector_type y = matrix_get_y_basis_vector_2D(affine_2D);
- vector_type p = matrix_get_translation_2D(affine_2D);
-
- identity_transform(m);
-
- matrix_set_basis_vectors_2D(m,x,y);
- matrix_set_translation(m,p);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// 3D affine from 3D affine
-//////////////////////////////////////////////////////////////////////////////
-
-/** Construct a 3D affine transform from another 3D affine transform */
-template < typename E, class A, class B, class L, class MatT > void
-matrix_3D_affine_from_3D_affine(matrix<E,A,B,L>& m, const MatT& affine_3D)
-{
- typedef vector< E, fixed<3> > vector_type;
-
- vector_type x = matrix_get_x_basis_vector(affine_3D);
- vector_type y = matrix_get_y_basis_vector(affine_3D);
- vector_type z = matrix_get_z_basis_vector(affine_3D);
- vector_type p = matrix_get_translation(affine_3D);
-
- identity_transform(m);
-
- matrix_set_basis_vectors(m,x,y,z);
- matrix_set_translation(m,p);
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// Matrix decomposition (scale->rotate->translate)
-//////////////////////////////////////////////////////////////////////////////
-
-/* 3x3 matrix version */
-template <
- class MatT,
- typename Real,
- typename ME,
- class MA,
- class B,
- class L,
- typename VE,
- class VA
->
-void matrix_decompose_SRT(
- const MatT& m,
- Real& scale_x,
- Real& scale_y,
- Real& scale_z,
- matrix<ME,MA,B,L>& rotation,
- vector<VE,VA>& translation)
-{
- typedef MatT matrix_type;
- typedef typename matrix_type::value_type value_type;
- typedef vector<value_type, fixed<3> > vector_type;
-
- /* Checking */
- detail::CheckMatAffine3D(m);
- detail::CheckMatLinear3D(rotation);
-
- vector_type x, y, z;
- matrix_get_basis_vectors(m, x, y, z);
-
- scale_x = x.length();
- scale_y = y.length();
- scale_z = z.length();
-
- x /= scale_x;
- y /= scale_y;
- z /= scale_z;
-
- matrix_set_basis_vectors(rotation, x, y, z);
- translation = matrix_get_translation(m);
-}
-
-/* Quaternion version */
-template <
- class MatT,
- typename Real,
- typename QE,
- class QA,
- class O,
- class C,
- typename VE,
- class VA
->
-void matrix_decompose_SRT(
- const MatT& m,
- Real& scale_x,
- Real& scale_y,
- Real& scale_z,
- quaternion<QE,QA,O,C>& rotation,
- vector<VE,VA>& translation)
-{
- typedef MatT matrix_type;
- typedef typename matrix_type::value_type value_type;
- typedef matrix< value_type, fixed<3,3> > rotation_type;
-
- rotation_type rotation_matrix;
- matrix_decompose_SRT(
- m, scale_x, scale_y, scale_z, rotation_matrix, translation);
- quaternion_rotation_matrix(rotation, rotation_matrix);
-}
-
-/* Euler angle version */
-template < class MatT, typename Real, typename E, class A >
-void matrix_decompose_SRT(
- const MatT& m,
- Real& scale_x,
- Real& scale_y,
- Real& scale_z,
- Real& angle_0,
- Real& angle_1,
- Real& angle_2,
- EulerOrder order,
- vector<E,A>& translation,
- Real tolerance = epsilon<Real>::placeholder())
-{
- typedef MatT matrix_type;
- typedef typename matrix_type::value_type value_type;
- typedef matrix< value_type, fixed<3,3> > rotation_type;
-
- rotation_type rotation_matrix;
- matrix_decompose_SRT(
- m, scale_x, scale_y, scale_z, rotation_matrix, translation);
- matrix_to_euler(
- rotation_matrix, angle_0, angle_1, angle_2, order, tolerance);
-}
-
-/* Axis-angle version */
-template < class MatT, typename Real, typename E, class A >
-void matrix_decompose_SRT(
- const MatT& m,
- Real& scale_x,
- Real& scale_y,
- Real& scale_z,
- vector<E,A>& axis,
- Real& angle,
- vector<E,A>& translation,
- Real tolerance = epsilon<Real>::placeholder())
-{
- typedef MatT matrix_type;
- typedef typename matrix_type::value_type value_type;
- typedef matrix< value_type, fixed<3,3> > rotation_type;
-
- rotation_type rotation_matrix;
- matrix_decompose_SRT(
- m, scale_x, scale_y, scale_z, rotation_matrix, translation);
- matrix_to_axis_angle(rotation_matrix, axis, angle, tolerance);
-}
-
-/* 2x2 matrix version, 2-d */
-template <
- class MatT,
- typename Real,
- typename ME,
- class MA,
- class B,
- class L,
- typename VE,
- class VA
->
-void matrix_decompose_SRT_2D(
- const MatT& m,
- Real& scale_x,
- Real& scale_y,
- matrix<ME,MA,B,L>& rotation,
- vector<VE,VA>& translation)
-{
- typedef MatT matrix_type;
- typedef typename matrix_type::value_type value_type;
- typedef vector<value_type, fixed<2> > vector_type;
-
- /* Checking */
- detail::CheckMatAffine2D(m);
- detail::CheckMatLinear2D(rotation);
-
- vector_type x, y;
- matrix_get_basis_vectors_2D(m, x, y);
-
- scale_x = x.length();
- scale_y = y.length();
-
- x /= scale_x;
- y /= scale_y;
-
- matrix_set_basis_vectors_2D(rotation, x, y);
- translation = matrix_get_translation_2D(m);
-}
-
-/* Angle version, 2-d */
-template < class MatT, typename Real, typename E, class A >
-void matrix_decompose_SRT_2D(
- const MatT& m,
- Real& scale_x,
- Real& scale_y,
- Real& angle,
- vector<E,A>& translation)
-{
- typedef MatT matrix_type;
- typedef typename matrix_type::value_type value_type;
- typedef matrix< value_type, fixed<2,2> > rotation_type;
-
- rotation_type rotation_matrix;
- matrix_decompose_SRT_2D(
- m, scale_x, scale_y, rotation_matrix, translation);
- angle = matrix_to_rotation_2D(rotation_matrix);
-}
-
-} // namespace cml
-
-#endif
projects / chaz / yoink / blobdiff