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Added Vec2d, Vec3d and Vec4d classes, and remapped Vec2, Vec3 and Vec4 to

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Vec2f, Vec3f an Vec4f respectively, with typedef's to the from Vec* to Vec*f.
This commit is contained in:
Robert Osfield
2004-05-20 10:15:48 +00:00
parent 17214df1fc
commit f02c75f5ea
40 changed files with 2150 additions and 977 deletions
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253
include/osg/Matrixd
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@@ -15,8 +15,10 @@
#define OSG_MATRIXD 1
#include <osg/Object>
#include <osg/Vec3>
#include <osg/Vec4>
#include <osg/Vec3f>
#include <osg/Vec3d>
#include <osg/Vec4f>
#include <osg/Vec4d>
#include <osg/Quat>
#include <string.h>
@@ -71,7 +73,7 @@ class SG_EXPORT Matrixd
return *this;
}
inline Matrixd& operator = (const Matrixf& other);
Matrixd& operator = (const Matrixf& other);
inline void set(const Matrixd& rhs) { set(rhs.ptr()); }
@@ -103,19 +105,26 @@ class SG_EXPORT Matrixd
void makeIdentity();
void makeScale( const Vec3& );
void makeScale( const Vec3f& );
void makeScale( const Vec3d& );
void makeScale( value_type, value_type, value_type );
void makeTranslate( const Vec3& );
void makeTranslate( const Vec3f& );
void makeTranslate( const Vec3d& );
void makeTranslate( value_type, value_type, value_type );
void makeRotate( const Vec3& from, const Vec3& to );
void makeRotate( value_type angle, const Vec3& axis );
void makeRotate( const Vec3f& from, const Vec3f& to );
void makeRotate( const Vec3d& from, const Vec3d& to );
void makeRotate( value_type angle, const Vec3f& axis );
void makeRotate( value_type angle, const Vec3d& axis );
void makeRotate( value_type angle, value_type x, value_type y, value_type z );
void makeRotate( const Quat& );
void makeRotate( value_type angle1, const Vec3& axis1,
value_type angle2, const Vec3& axis2,
value_type angle3, const Vec3& axis3);
void makeRotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3);
void makeRotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3);
@@ -163,10 +172,13 @@ class SG_EXPORT Matrixd
double& zNear, double& zFar) const;
/** Set to the position and orientation modelview matrix, using the same convention as gluLookAt. */
void makeLookAt(const Vec3& eye,const Vec3& center,const Vec3& up);
void makeLookAt(const Vec3d& eye,const Vec3d& center,const Vec3d& up);
/** Get to the position and orientation of a modelview matrix, using the same convention as gluLookAt. */
void getLookAt(Vec3& eye,Vec3& center,Vec3& up,value_type lookDistance=1.0f) const;
void getLookAt(Vec3f& eye,Vec3f& center,Vec3f& up,value_type lookDistance=1.0f) const;
/** Get to the position and orientation of a modelview matrix, using the same convention as gluLookAt. */
void getLookAt(Vec3d& eye,Vec3d& center,Vec3d& up,value_type lookDistance=1.0f) const;
/** invert the matrix rhs. */
bool invert( const Matrixd& rhs);
@@ -179,16 +191,23 @@ class SG_EXPORT Matrixd
//basic utility functions to create new matrices
inline static Matrixd identity( void );
inline static Matrixd scale( const Vec3& sv);
inline static Matrixd scale( const Vec3f& sv);
inline static Matrixd scale( const Vec3d& sv);
inline static Matrixd scale( value_type sx, value_type sy, value_type sz);
inline static Matrixd translate( const Vec3& dv);
inline static Matrixd translate( const Vec3f& dv);
inline static Matrixd translate( const Vec3d& dv);
inline static Matrixd translate( value_type x, value_type y, value_type z);
inline static Matrixd rotate( const Vec3& from, const Vec3& to);
inline static Matrixd rotate( const Vec3f& from, const Vec3f& to);
inline static Matrixd rotate( const Vec3d& from, const Vec3d& to);
inline static Matrixd rotate( value_type angle, value_type x, value_type y, value_type z);
inline static Matrixd rotate( value_type angle, const Vec3& axis);
inline static Matrixd rotate( value_type angle1, const Vec3& axis1,
value_type angle2, const Vec3& axis2,
value_type angle3, const Vec3& axis3);
inline static Matrixd rotate( value_type angle, const Vec3f& axis);
inline static Matrixd rotate( value_type angle, const Vec3d& axis);
inline static Matrixd rotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3);
inline static Matrixd rotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3);
inline static Matrixd rotate( const Quat& quat);
inline static Matrixd inverse( const Matrixd& matrix);
@@ -212,29 +231,45 @@ class SG_EXPORT Matrixd
double zNear, double zFar);
/** Create the position and orientation as per a camera, using the same convention as gluLookAt. */
inline static Matrixd lookAt(const Vec3& eye,const Vec3& center,const Vec3& up);
inline static Matrixd lookAt(const Vec3f& eye,const Vec3f& center,const Vec3f& up);
/** Create the position and orientation as per a camera, using the same convention as gluLookAt. */
inline static Matrixd lookAt(const Vec3d& eye,const Vec3d& center,const Vec3d& up);
inline Vec3 preMult( const Vec3& v ) const;
inline Vec3 postMult( const Vec3& v ) const;
inline Vec3 operator* ( const Vec3& v ) const;
inline Vec4 preMult( const Vec4& v ) const;
inline Vec4 postMult( const Vec4& v ) const;
inline Vec4 operator* ( const Vec4& v ) const;
inline Vec3f preMult( const Vec3f& v ) const;
inline Vec3d preMult( const Vec3d& v ) const;
inline Vec3f postMult( const Vec3f& v ) const;
inline Vec3d postMult( const Vec3d& v ) const;
inline Vec3f operator* ( const Vec3f& v ) const;
inline Vec3d operator* ( const Vec3d& v ) const;
inline Vec4f preMult( const Vec4f& v ) const;
inline Vec4d preMult( const Vec4d& v ) const;
inline Vec4f postMult( const Vec4f& v ) const;
inline Vec4d postMult( const Vec4d& v ) const;
inline Vec4f operator* ( const Vec4f& v ) const;
inline Vec4d operator* ( const Vec4d& v ) const;
void setTrans( value_type tx, value_type ty, value_type tz );
void setTrans( const Vec3& v );
inline Vec3 getTrans() const { return Vec3(_mat[3][0],_mat[3][1],_mat[3][2]); }
void setTrans( const Vec3f& v );
void setTrans( const Vec3d& v );
inline Vec3 getScale() const { return Vec3(_mat[0][0],_mat[1][1],_mat[2][2]); }
inline Vec3d getTrans() const { return Vec3d(_mat[3][0],_mat[3][1],_mat[3][2]); }
inline Vec3d getScale() const { return Vec3d(_mat[0][0],_mat[1][1],_mat[2][2]); }
/** apply apply an 3x3 transform of v*M[0..2,0..2] */
inline static Vec3 transform3x3(const Vec3& v,const Matrixd& m);
/** apply apply an 3x3 transform of M[0..2,0..2]*v */
inline static Vec3 transform3x3(const Matrixd& m,const Vec3& v);
inline static Vec3f transform3x3(const Vec3f& v,const Matrixd& m);
/** apply apply an 3x3 transform of v*M[0..2,0..2] */
inline static Vec3d transform3x3(const Vec3d& v,const Matrixd& m);
/** apply apply an 3x3 transform of M[0..2,0..2]*v */
inline static Vec3f transform3x3(const Matrixd& m,const Vec3f& v);
/** apply apply an 3x3 transform of M[0..2,0..2]*v */
inline static Vec3d transform3x3(const Matrixd& m,const Vec3d& v);
// basic Matrixd multiplication, our workhorse methods.
void mult( const Matrixd&, const Matrixd& );
@@ -307,7 +342,12 @@ inline Matrixd Matrixd::scale(value_type sx, value_type sy, value_type sz)
return m;
}
inline Matrixd Matrixd::scale(const Vec3& v )
inline Matrixd Matrixd::scale(const Vec3f& v )
{
return scale(v.x(), v.y(), v.z() );
}
inline Matrixd Matrixd::scale(const Vec3d& v )
{
return scale(v.x(), v.y(), v.z() );
}
@@ -319,7 +359,12 @@ inline Matrixd Matrixd::translate(value_type tx, value_type ty, value_type tz)
return m;
}
inline Matrixd Matrixd::translate(const Vec3& v )
inline Matrixd Matrixd::translate(const Vec3f& v )
{
return translate(v.x(), v.y(), v.z() );
}
inline Matrixd Matrixd::translate(const Vec3d& v )
{
return translate(v.x(), v.y(), v.z() );
}
@@ -334,21 +379,41 @@ inline Matrixd Matrixd::rotate(value_type angle, value_type x, value_type y, val
m.makeRotate(angle,x,y,z);
return m;
}
inline Matrixd Matrixd::rotate(value_type angle, const Vec3& axis )
inline Matrixd Matrixd::rotate(value_type angle, const Vec3f& axis )
{
Matrixd m;
m.makeRotate(angle,axis);
return m;
}
inline Matrixd Matrixd::rotate( value_type angle1, const Vec3& axis1,
value_type angle2, const Vec3& axis2,
value_type angle3, const Vec3& axis3)
inline Matrixd Matrixd::rotate(value_type angle, const Vec3d& axis )
{
Matrixd m;
m.makeRotate(angle,axis);
return m;
}
inline Matrixd Matrixd::rotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3)
{
Matrixd m;
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
return m;
}
inline Matrixd Matrixd::rotate(const Vec3& from, const Vec3& to )
inline Matrixd Matrixd::rotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3)
{
Matrixd m;
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
return m;
}
inline Matrixd Matrixd::rotate(const Vec3f& from, const Vec3f& to )
{
Matrixd m;
m.makeRotate(from,to);
return m;
}
inline Matrixd Matrixd::rotate(const Vec3d& from, const Vec3d& to )
{
Matrixd m;
m.makeRotate(from,to);
@@ -363,8 +428,8 @@ inline Matrixd Matrixd::inverse( const Matrixd& matrix)
}
inline Matrixd Matrixd::ortho(double left, double right,
double bottom, double top,
double zNear, double zFar)
double bottom, double top,
double zNear, double zFar)
{
Matrixd m;
m.makeOrtho(left,right,bottom,top,zNear,zFar);
@@ -372,7 +437,7 @@ inline Matrixd Matrixd::ortho(double left, double right,
}
inline Matrixd Matrixd::ortho2D(double left, double right,
double bottom, double top)
double bottom, double top)
{
Matrixd m;
m.makeOrtho2D(left,right,bottom,top);
@@ -380,8 +445,8 @@ inline Matrixd Matrixd::ortho2D(double left, double right,
}
inline Matrixd Matrixd::frustum(double left, double right,
double bottom, double top,
double zNear, double zFar)
double bottom, double top,
double zNear, double zFar)
{
Matrixd m;
m.makeFrustum(left,right,bottom,top,zNear,zFar);
@@ -396,74 +461,136 @@ inline Matrixd Matrixd::perspective(double fovy,double aspectRatio,
return m;
}
inline Matrixd Matrixd::lookAt(const Vec3& eye,const Vec3& center,const Vec3& up)
inline Matrixd Matrixd::lookAt(const Vec3f& eye,const Vec3f& center,const Vec3f& up)
{
Matrixd m;
m.makeLookAt(eye,center,up);
return m;
}
inline Matrixd Matrixd::lookAt(const Vec3d& eye,const Vec3d& center,const Vec3d& up)
{
Matrixd m;
m.makeLookAt(eye,center,up);
return m;
}
inline Vec3 Matrixd::postMult( const Vec3& v ) const
inline Vec3f Matrixd::postMult( const Vec3f& v ) const
{
value_type d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
return Vec3( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
return Vec3f( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
}
inline Vec3d Matrixd::postMult( const Vec3d& v ) const
{
value_type d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
return Vec3d( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
}
inline Vec3 Matrixd::preMult( const Vec3& v ) const
inline Vec3f Matrixd::preMult( const Vec3f& v ) const
{
value_type d = 1.0f/(_mat[0][3]*v.x()+_mat[1][3]*v.y()+_mat[2][3]*v.z()+_mat[3][3]) ;
return Vec3( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
return Vec3f( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1])*d,
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2])*d);
}
inline Vec3d Matrixd::preMult( const Vec3d& v ) const
{
value_type d = 1.0f/(_mat[0][3]*v.x()+_mat[1][3]*v.y()+_mat[2][3]*v.z()+_mat[3][3]) ;
return Vec3d( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1])*d,
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2])*d);
}
inline Vec4 Matrixd::postMult( const Vec4& v ) const
inline Vec4f Matrixd::postMult( const Vec4f& v ) const
{
return Vec4( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
return Vec4f( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3]*v.w()),
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3]*v.w()),
(_mat[3][0]*v.x() + _mat[3][1]*v.y() + _mat[3][2]*v.z() + _mat[3][3]*v.w())) ;
}
inline Vec4d Matrixd::postMult( const Vec4d& v ) const
{
return Vec4d( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3]*v.w()),
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3]*v.w()),
(_mat[3][0]*v.x() + _mat[3][1]*v.y() + _mat[3][2]*v.z() + _mat[3][3]*v.w())) ;
}
inline Vec4 Matrixd::preMult( const Vec4& v ) const
inline Vec4f Matrixd::preMult( const Vec4f& v ) const
{
return Vec4( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
return Vec4f( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1]*v.w()),
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2]*v.w()),
(_mat[0][3]*v.x() + _mat[1][3]*v.y() + _mat[2][3]*v.z() + _mat[3][3]*v.w()));
}
inline Vec3 Matrixd::transform3x3(const Vec3& v,const Matrixd& m)
inline Vec4d Matrixd::preMult( const Vec4d& v ) const
{
return Vec3( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
return Vec4d( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1]*v.w()),
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2]*v.w()),
(_mat[0][3]*v.x() + _mat[1][3]*v.y() + _mat[2][3]*v.z() + _mat[3][3]*v.w()));
}
inline Vec3f Matrixd::transform3x3(const Vec3f& v,const Matrixd& m)
{
return Vec3f( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z()),
(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z()));
}
inline Vec3d Matrixd::transform3x3(const Vec3d& v,const Matrixd& m)
{
return Vec3d( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z()),
(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z()));
}
inline Vec3 Matrixd::transform3x3(const Matrixd& m,const Vec3& v)
inline Vec3f Matrixd::transform3x3(const Matrixd& m,const Vec3f& v)
{
return Vec3( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
return Vec3f( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
(m._mat[1][0]*v.x() + m._mat[1][1]*v.y() + m._mat[1][2]*v.z()),
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
}
inline Vec3d Matrixd::transform3x3(const Matrixd& m,const Vec3d& v)
{
return Vec3d( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
(m._mat[1][0]*v.x() + m._mat[1][1]*v.y() + m._mat[1][2]*v.z()),
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
}
inline Vec3 operator* (const Vec3& v, const Matrixd& m )
inline Vec3f operator* (const Vec3f& v, const Matrixd& m )
{
return m.preMult(v);
}
inline Vec4 operator* (const Vec4& v, const Matrixd& m )
inline Vec3d operator* (const Vec3d& v, const Matrixd& m )
{
return m.preMult(v);
}
inline Vec4f operator* (const Vec4f& v, const Matrixd& m )
{
return m.preMult(v);
}
inline Vec4d operator* (const Vec4d& v, const Matrixd& m )
{
return m.preMult(v);
}
inline Vec3 Matrixd::operator* (const Vec3& v) const
inline Vec3f Matrixd::operator* (const Vec3f& v) const
{
return postMult(v);
}
inline Vec4 Matrixd::operator* (const Vec4& v) const
inline Vec3d Matrixd::operator* (const Vec3d& v) const
{
return postMult(v);
}
inline Vec4f Matrixd::operator* (const Vec4f& v) const
{
return postMult(v);
}
inline Vec4d Matrixd::operator* (const Vec4d& v) const
{
return postMult(v);
}