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240 lines
7.6 KiB
C++
240 lines
7.6 KiB
C++
/*=========================================================================
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Program: Visualization Toolkit
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Module: vtkMatrix4x4.h
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Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
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All rights reserved.
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See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
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This software is distributed WITHOUT ANY WARRANTY; without even
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the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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PURPOSE. See the above copyright notice for more information.
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=========================================================================*/
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/**
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* @class vtkMatrix4x4
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* @brief represent and manipulate 4x4 transformation matrices
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*
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* vtkMatrix4x4 is a class to represent and manipulate 4x4 matrices.
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* Specifically, it is designed to work on 4x4 transformation matrices
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* found in 3D rendering using homogeneous coordinates [x y z w].
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* Many of the methods take an array of 16 doubles in row-major format.
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* Note that OpenGL stores matrices in column-major format, so the matrix
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* contents must be transposed when they are moved between OpenGL and VTK.
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* @sa
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* vtkTransform
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*/
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#ifndef vtkMatrix4x4_h
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#define vtkMatrix4x4_h
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#include "vtkCommonMathModule.h" // For export macro
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#include "vtkObject.h"
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class VTKCOMMONMATH_EXPORT vtkMatrix4x4 : public vtkObject
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{
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public:
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/// The internal data is public for historical reasons. Do not use!
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double Element[4][4];
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/**
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* Construct a 4x4 identity matrix.
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*/
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static vtkMatrix4x4 *New();
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vtkTypeMacro(vtkMatrix4x4,vtkObject);
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void PrintSelf(ostream& os, vtkIndent indent) VTK_OVERRIDE;
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/**
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* Set the elements of the matrix to the same values as the elements
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* of the given source matrix.
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*/
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void DeepCopy(const vtkMatrix4x4 *source)
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{vtkMatrix4x4::DeepCopy(*this->Element, source); this->Modified(); }
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/**
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* Set the elements of the given destination buffer to the same values
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* as the elements of the given source matrix.
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*/
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static void DeepCopy(double destination[16], const vtkMatrix4x4 *source)
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{vtkMatrix4x4::DeepCopy(destination, *source->Element); }
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/**
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* Copies the given source buffer to the given destination buffer.
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* The memory ranges must not overlap. Does not affect any matrix.
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*/
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static void DeepCopy(double destination[16], const double source[16]);
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/**
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* Non-static member function. Assigns *to* the matrix *from*
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* the given elements array.
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*/
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void DeepCopy(const double elements[16])
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{ this->DeepCopy(*this->Element, elements); this->Modified(); }
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/**
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* Set all of the elements to zero.
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*/
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void Zero()
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{ vtkMatrix4x4::Zero(*this->Element); this->Modified(); }
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static void Zero(double elements[16]);
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/**
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* Set equal to Identity matrix
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*/
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void Identity()
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{ vtkMatrix4x4::Identity(*this->Element); this->Modified();}
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static void Identity(double elements[16]);
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/**
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* Matrix Inversion (adapted from Richard Carling in "Graphics Gems,"
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* Academic Press, 1990).
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*/
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static void Invert(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
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{vtkMatrix4x4::Invert(*in->Element, *out->Element); out->Modified(); }
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void Invert()
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{ vtkMatrix4x4::Invert(this,this); }
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static void Invert(const double inElements[16], double outElements[16]);
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/**
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* Transpose the matrix and put it into out.
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*/
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static void Transpose(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
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{vtkMatrix4x4::Transpose(*in->Element, *out->Element); out->Modified(); }
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void Transpose()
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{ vtkMatrix4x4::Transpose(this,this); }
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static void Transpose(const double inElements[16], double outElements[16]);
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/**
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* Multiply a homogeneous coordinate by this matrix, i.e. out = A*in.
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* The in[4] and out[4] can be the same array.
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*/
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void MultiplyPoint(const float in[4], float out[4])
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{vtkMatrix4x4::MultiplyPoint(*this->Element, in, out); }
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void MultiplyPoint(const double in[4], double out[4])
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{vtkMatrix4x4::MultiplyPoint(*this->Element, in, out); }
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static void MultiplyPoint(const double elements[16],
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const float in[4], float out[4]);
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static void MultiplyPoint(const double elements[16],
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const double in[4], double out[4]);
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/**
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* For use in Java, Python or Tcl. The default MultiplyPoint() uses
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* a single-precision point.
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*/
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float *MultiplyPoint(const float in[4])
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{return this->MultiplyFloatPoint(in); }
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float *MultiplyFloatPoint(const float in[4])
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{this->MultiplyPoint(in,this->FloatPoint); return this->FloatPoint; }
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double *MultiplyDoublePoint(const double in[4])
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{this->MultiplyPoint(in,this->DoublePoint); return this->DoublePoint; }
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//@{
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/**
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* Multiplies matrices a and b and stores the result in c.
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*/
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static void Multiply4x4(const vtkMatrix4x4 *a, const vtkMatrix4x4 *b,
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vtkMatrix4x4 *c);
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static void Multiply4x4(const double a[16], const double b[16],
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double c[16]);
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//@}
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/**
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* Compute adjoint of the matrix and put it into out.
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*/
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void Adjoint(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
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{vtkMatrix4x4::Adjoint(*in->Element, *out->Element);}
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static void Adjoint(const double inElements[16], double outElements[16]);
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/**
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* Compute the determinant of the matrix and return it.
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*/
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double Determinant() {return vtkMatrix4x4::Determinant(*this->Element);}
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static double Determinant(const double elements[16]);
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/**
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* Sets the element i,j in the matrix.
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*/
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void SetElement(int i, int j, double value);
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/**
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* Returns the element i,j from the matrix.
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*/
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double GetElement(int i, int j) const
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{return this->Element[i][j];}
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//@{
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/**
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* Legacy methods. Do not use.
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*/
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VTK_LEGACY(double *operator[](const unsigned int i));
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VTK_LEGACY(const double *operator[](unsigned int i) const);
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VTK_LEGACY(void Adjoint(vtkMatrix4x4 &in, vtkMatrix4x4 &out));
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VTK_LEGACY(double Determinant(vtkMatrix4x4 &in));
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VTK_LEGACY(double Determinant(vtkMatrix4x4 *));
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VTK_LEGACY(void Invert(vtkMatrix4x4 &in, vtkMatrix4x4 &out));
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VTK_LEGACY(void Transpose(vtkMatrix4x4 &in, vtkMatrix4x4 &out));
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VTK_LEGACY(static void PointMultiply(const double [16],
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const float [4], float [4]));
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VTK_LEGACY(static void PointMultiply(const double [16],
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const double [4], double [4]));
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//@}
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protected:
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vtkMatrix4x4() { vtkMatrix4x4::Identity(*this->Element); };
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~vtkMatrix4x4() VTK_OVERRIDE {}
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float FloatPoint[4];
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double DoublePoint[4];
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private:
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vtkMatrix4x4(const vtkMatrix4x4&) VTK_DELETE_FUNCTION;
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void operator= (const vtkMatrix4x4&) VTK_DELETE_FUNCTION;
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};
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//----------------------------------------------------------------------------
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// Multiplies matrices a and b and stores the result in c.
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inline void vtkMatrix4x4::Multiply4x4(const double a[16], const double b[16],
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double c[16])
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{
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double tmp[16];
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for (int i = 0; i < 16; i += 4)
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{
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for (int j = 0; j < 4; j++)
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{
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tmp[i + j] = a[i + 0] * b[j + 0] +
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a[i + 1] * b[j + 4] +
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a[i + 2] * b[j + 8] +
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a[i + 3] * b[j + 12];
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}
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}
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for (int k = 0; k < 16; k++)
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{
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c[k] = tmp[k];
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}
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}
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//----------------------------------------------------------------------------
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inline void vtkMatrix4x4::Multiply4x4(
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const vtkMatrix4x4 *a, const vtkMatrix4x4 *b, vtkMatrix4x4 *c)
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{
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vtkMatrix4x4::Multiply4x4(*a->Element, *b->Element, *c->Element);
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}
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//----------------------------------------------------------------------------
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inline void vtkMatrix4x4::SetElement(int i, int j, double value)
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{
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if (this->Element[i][j] != value)
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{
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this->Element[i][j] = value;
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this->Modified();
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}
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}
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#endif
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