matrix_4.cpp

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/*
 * matrix4_t.cpp
 *
 * Copyright (C) 2009   Thomas A. Vaughan
 * All rights reserved.
 *
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the <organization> nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THOMAS A. VAUGHAN ''AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THOMAS A. VAUGHAN BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 *
 * 4x4 matrix aimed at 3D transformations.  See matrix4_t.h
 */

// includes --------------------------------------------------------------------
#include "matrix_4.h"           // always include our own header first!

#include <math.h>

#include "perf/perf.h"


////////////////////////////////////////////////////////////////////////////////
//
//      static helper methods
//
////////////////////////////////////////////////////////////////////////////////




////////////////////////////////////////////////////////////////////////////////
//
//      public API
//
////////////////////////////////////////////////////////////////////////////////

void
matrix4_t::setZero
(
void
)
throw()
{
        // unroll the loops...
        m[ 0]   = 0;
        m[ 1]   = 0;
        m[ 2]   = 0;
        m[ 3]   = 0;
        m[ 4]   = 0;
        m[ 5]   = 0;
        m[ 6]   = 0;
        m[ 7]   = 0;
        m[ 8]   = 0;
        m[ 9]   = 0;
        m[10]   = 0;
        m[11]   = 0;
        m[12]   = 0;
        m[13]   = 0;
        m[14]   = 0;
        m[15]   = 0;
}



void
matrix4_t::addTranslation
(
IN const point3d_t& t
)
throw()
{
        m[ 3] += t.x;
        m[ 7] += t.y;
        m[11] += t.z;
}



void
matrix4_t::setZRotation
(
IN float radians
)
throw()
{
        float C = cos(radians);
        float S = sin(radians);

        // unroll loops...
        m[ 0]   = C;
        m[ 1]   = S;
        m[ 2]   = 0;
        m[ 3]   = 0;
        m[ 4]   = -S;
        m[ 5]   = C;
        m[ 6]   = 0;
        m[ 7]   = 0;
        m[ 8]   = 0;
        m[ 9]   = 0;
        m[10]   = 1;
        m[11]   = 0;
        m[12]   = 0;
        m[13]   = 0;
        m[14]   = 0;
        m[15]   = 1;
}



void
matrix4_t::setXRotation
(
IN float radians
)
throw()
{
        float C = cos(radians);
        float S = sin(radians);

        // unroll the loops...
        m[ 0]   = 1;
        m[ 1]   = 0;
        m[ 2]   = 0;
        m[ 3]   = 0;
        m[ 4]   = 0;
        m[ 5]   = C;
        m[ 6]   = S;
        m[ 7]   = 0;
        m[ 8]   = 0;
        m[ 9]   = -S;
        m[10]   = C;
        m[11]   = 0;
        m[12]   = 0;
        m[13]   = 0;
        m[14]   = 0;
        m[15]   = 1;
}



void
matrix4_t::setYRotation
(
IN float radians
)
throw()
{
        float C = cos(radians);
        float S = sin(radians);

        // unroll loops...
        m[ 0]   = C;
        m[ 1]   = 0;
        m[ 2]   = -S;
        m[ 3]   = 0;
        m[ 4]   = 0;
        m[ 5]   = 1;
        m[ 6]   = 0;
        m[ 7]   = 0;
        m[ 8]   = S;
        m[ 9]   = 0;
        m[10]   = C;
        m[11]   = 0;
        m[12]   = 0;
        m[13]   = 0;
        m[14]   = 0;
        m[15]   = 1;
}



void
matrix4_t::setXYZScale
(
IN float r
)
throw()
{
        // unroll the loops...
        m[ 0]   = r;
        m[ 1]   = 0;
        m[ 2]   = 0;
        m[ 3]   = 0;
        m[ 4]   = 0;
        m[ 5]   = r;
        m[ 6]   = 0;
        m[ 7]   = 0;
        m[ 8]   = 0;
        m[ 9]   = 0;
        m[10]   = r;
        m[11]   = 0;
        m[12]   = 0;
        m[13]   = 0;
        m[14]   = 0;
        m[15]   = 1;
}



void
matrix4_t::dump
(
IN const char * txt
)
const
throw()
{
        ASSERT(txt, "null");

        DPRINTF("%s 4x4 matrix:", txt);
        for (int row = 0; row < 4; ++row) {
                const float * p = m + 4 * row;
                DPRINTF("  [ %6.3f  %6.3f  %6.3f  %6.3f ]",
                    p[0], p[1], p[2], p[3]);
        }
}



point3d_t
matrix4_t::transform
(
IN const point3d_t& p
)
const
throw()
{
        point3d_t r(0.0, 0.0, 0.0);
        const float * pp = &p.x;
        for (int i = 0; i < 3; ++i) {
                r.x += m[i] * pp[i];
                r.y += m[4 + i] * pp[i];
                r.z += m[8 + i] * pp[i];
        }

        r.x += m[ 3];
        r.y += m[ 7];
        r.z += m[11];

        return r;
}



void
matrix4_t::setToProductOf
(
IN const matrix4_t& A,
IN const matrix4_t& B
)
throw()
{
        for (int i = 0; i < 4; ++i) {
                for (int j = 0; j < 4; ++j) {
                        float * pM = m + 4 * i + j;
                        *pM = 0.0;
                        const float * pA = A.m + 4 * i;
                        const float * pB = B.m + j;
                        for (int k = 0; k < 4; ++k, pA++, pB += 4) {
                                *pM += (*pA) * (*pB);
                        }
                }
        }
}



void
matrix4_t::addMatrix
(
IN const matrix4_t& A
)
throw()
{
        // unroll the loops...
        m[ 0]   += A.m[ 0];
        m[ 1]   += A.m[ 1];
        m[ 2]   += A.m[ 2];
        m[ 3]   += A.m[ 3];
        m[ 4]   += A.m[ 4];
        m[ 5]   += A.m[ 5];
        m[ 6]   += A.m[ 6];
        m[ 7]   += A.m[ 7];
        m[ 8]   += A.m[ 8];
        m[ 9]   += A.m[ 9];
        m[10]   += A.m[10];
        m[11]   += A.m[11];
        m[12]   += A.m[12];
        m[13]   += A.m[13];
        m[14]   += A.m[14];
        m[15]   += A.m[15];
}



void
matrix4_t::subtractMatrix
(
IN const matrix4_t& A
)
throw()
{
        // unroll the loops...
        m[ 0]   -= A.m [0];
        m[ 1]   -= A.m[ 1];
        m[ 2]   -= A.m[ 2];
        m[ 3]   -= A.m[ 3];
        m[ 4]   -= A.m[ 4];
        m[ 5]   -= A.m[ 5];
        m[ 6]   -= A.m[ 6];
        m[ 7]   -= A.m[ 7];
        m[ 8]   -= A.m[ 8];
        m[ 9]   -= A.m[ 9];
        m[10]   -= A.m[10];
        m[11]   -= A.m[11];
        m[12]   -= A.m[12];
        m[13]   -= A.m[13];
        m[14]   -= A.m[14];
        m[15]   -= A.m[15];
}



void
matrix4_t::transpose
(
void
)
throw()
{
        // i: column loop
        for (int i = 0; i < 4; ++i) {

                // j: row loop
                for (int j = i + 1; j < 4; ++j) {
                        int i0 = 4 * i + j;
                        int i1 = 4 * j + i;
                        float tmp = m[i0];
                        m[i0] = m[i1];
                        m[i1] = tmp;
                }
        }
}



void
transformPoints
(
IN const matrix4_t& T,
IN int N,
IN const point3d_t * in,
OUT point3d_t * out
)
{
        ASSERT(N >= 0, "Bad point count: %d", N);
        ASSERT(in, "null");
        ASSERT(out, "null");

        const point3d_t * p = in;
        point3d_t * q = out;
        for (int i = 0; i < N; ++i, ++p, ++q) {
                *q = T * (*p);
        }
}