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Diffstat (limited to 'indra/llmath/m3math.h')
| -rw-r--r-- | indra/llmath/m3math.h | 236 |
1 files changed, 118 insertions, 118 deletions
diff --git a/indra/llmath/m3math.h b/indra/llmath/m3math.h index bf38895855..cd14290246 100644 --- a/indra/llmath/m3math.h +++ b/indra/llmath/m3math.h @@ -1,25 +1,25 @@ -/** +/** * @file m3math.h * @brief LLMatrix3 class header file. * * $LicenseInfo:firstyear=2000&license=viewerlgpl$ * Second Life Viewer Source Code * Copyright (C) 2010, Linden Research, Inc. - * + * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; * version 2.1 of the License only. - * + * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. - * + * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * + * * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA * $/LicenseInfo$ */ @@ -37,139 +37,139 @@ class LLQuaternion; // NOTA BENE: Currently assuming a right-handed, z-up universe -// ji +// ji // LLMatrix3 = | 00 01 02 | -// | 10 11 12 | -// | 20 21 22 | +// | 10 11 12 | +// | 20 21 22 | -// LLMatrix3 = | fx fy fz | forward-axis -// | lx ly lz | left-axis -// | ux uy uz | up-axis +// LLMatrix3 = | fx fy fz | forward-axis +// | lx ly lz | left-axis +// | ux uy uz | up-axis -// NOTE: The world of computer graphics uses column-vectors and matricies that -// "operate to the left". +// NOTE: The world of computer graphics uses column-vectors and matricies that +// "operate to the left". -static const U32 NUM_VALUES_IN_MAT3 = 3; +static const U32 NUM_VALUES_IN_MAT3 = 3; class LLMatrix3 { - public: - F32 mMatrix[NUM_VALUES_IN_MAT3][NUM_VALUES_IN_MAT3]; - - LLMatrix3(void); // Initializes Matrix to identity matrix - explicit LLMatrix3(const F32 *mat); // Initializes Matrix to values in mat - explicit LLMatrix3(const LLQuaternion &q); // Initializes Matrix with rotation q - - LLMatrix3(const F32 angle, const LLVector3 &vec); // Initializes Matrix with axis angle - LLMatrix3(const F32 angle, const LLVector3d &vec); // Initializes Matrix with axis angle - LLMatrix3(const F32 angle, const LLVector4 &vec); // Initializes Matrix with axis angle - LLMatrix3(const F32 roll, const F32 pitch, const F32 yaw); // Initializes Matrix with Euler angles - - ////////////////////////////// - // - // Matrix initializers - these replace any existing values in the matrix - // - - // various useful matrix functions - const LLMatrix3& setIdentity(); // Load identity matrix - const LLMatrix3& clear(); // Clears Matrix to zero - const LLMatrix3& setZero(); // Clears Matrix to zero - - /////////////////////////// - // - // Matrix setters - set some properties without modifying others - // - - // These functions take Rotation arguments - const LLMatrix3& setRot(const F32 angle, const LLVector3 &vec); // Calculate rotation matrix for rotating angle radians about vec - const LLMatrix3& setRot(const F32 roll, const F32 pitch, const F32 yaw); // Calculate rotation matrix from Euler angles - const LLMatrix3& setRot(const LLQuaternion &q); // Transform matrix by Euler angles and translating by pos - - const LLMatrix3& setRows(const LLVector3 &x_axis, const LLVector3 &y_axis, const LLVector3 &z_axis); - const LLMatrix3& setRow( U32 rowIndex, const LLVector3& row ); - const LLMatrix3& setCol( U32 colIndex, const LLVector3& col ); - - - /////////////////////////// - // - // Get properties of a matrix - // - LLQuaternion quaternion() const; // Returns quaternion from mat - void getEulerAngles(F32 *roll, F32 *pitch, F32 *yaw) const; // Returns Euler angles, in radians - - // Axis extraction routines - LLVector3 getFwdRow() const; - LLVector3 getLeftRow() const; - LLVector3 getUpRow() const; - F32 determinant() const; // Return determinant - - - /////////////////////////// - // - // Operations on an existing matrix - // - const LLMatrix3& transpose(); // Transpose MAT4 - const LLMatrix3& orthogonalize(); // Orthogonalizes X, then Y, then Z - void invert(); // Invert MAT4 - const LLMatrix3& adjointTranspose();// returns transpose of matrix adjoint, for multiplying normals - - - // Rotate existing matrix - // Note: the two lines below are equivalent: - // foo.rotate(bar) - // foo = foo * bar - // That is, foo.rotate(bar) multiplies foo by bar FROM THE RIGHT - const LLMatrix3& rotate(const F32 angle, const F32 x, const F32 y, const F32 z); // Rotate matrix by rotating angle radians about (x, y, z) - const LLMatrix3& rotate(const F32 angle, const LLVector3 &vec); // Rotate matrix by rotating angle radians about vec - const LLMatrix3& rotate(const F32 roll, const F32 pitch, const F32 yaw); // Rotate matrix by roll (about x), pitch (about y), and yaw (about z) - const LLMatrix3& rotate(const LLQuaternion &q); // Transform matrix by Euler angles and translating by pos - - void add(const LLMatrix3& other_matrix); // add other_matrix to this one + public: + F32 mMatrix[NUM_VALUES_IN_MAT3][NUM_VALUES_IN_MAT3]; + + LLMatrix3(void); // Initializes Matrix to identity matrix + explicit LLMatrix3(const F32 *mat); // Initializes Matrix to values in mat + explicit LLMatrix3(const LLQuaternion &q); // Initializes Matrix with rotation q + + LLMatrix3(const F32 angle, const LLVector3 &vec); // Initializes Matrix with axis angle + LLMatrix3(const F32 angle, const LLVector3d &vec); // Initializes Matrix with axis angle + LLMatrix3(const F32 angle, const LLVector4 &vec); // Initializes Matrix with axis angle + LLMatrix3(const F32 roll, const F32 pitch, const F32 yaw); // Initializes Matrix with Euler angles + + ////////////////////////////// + // + // Matrix initializers - these replace any existing values in the matrix + // + + // various useful matrix functions + const LLMatrix3& setIdentity(); // Load identity matrix + const LLMatrix3& clear(); // Clears Matrix to zero + const LLMatrix3& setZero(); // Clears Matrix to zero + + /////////////////////////// + // + // Matrix setters - set some properties without modifying others + // + + // These functions take Rotation arguments + const LLMatrix3& setRot(const F32 angle, const LLVector3 &vec); // Calculate rotation matrix for rotating angle radians about vec + const LLMatrix3& setRot(const F32 roll, const F32 pitch, const F32 yaw); // Calculate rotation matrix from Euler angles + const LLMatrix3& setRot(const LLQuaternion &q); // Transform matrix by Euler angles and translating by pos + + const LLMatrix3& setRows(const LLVector3 &x_axis, const LLVector3 &y_axis, const LLVector3 &z_axis); + const LLMatrix3& setRow( U32 rowIndex, const LLVector3& row ); + const LLMatrix3& setCol( U32 colIndex, const LLVector3& col ); + + + /////////////////////////// + // + // Get properties of a matrix + // + LLQuaternion quaternion() const; // Returns quaternion from mat + void getEulerAngles(F32 *roll, F32 *pitch, F32 *yaw) const; // Returns Euler angles, in radians + + // Axis extraction routines + LLVector3 getFwdRow() const; + LLVector3 getLeftRow() const; + LLVector3 getUpRow() const; + F32 determinant() const; // Return determinant + + + /////////////////////////// + // + // Operations on an existing matrix + // + const LLMatrix3& transpose(); // Transpose MAT4 + const LLMatrix3& orthogonalize(); // Orthogonalizes X, then Y, then Z + void invert(); // Invert MAT4 + const LLMatrix3& adjointTranspose();// returns transpose of matrix adjoint, for multiplying normals + + + // Rotate existing matrix + // Note: the two lines below are equivalent: + // foo.rotate(bar) + // foo = foo * bar + // That is, foo.rotate(bar) multiplies foo by bar FROM THE RIGHT + const LLMatrix3& rotate(const F32 angle, const F32 x, const F32 y, const F32 z); // Rotate matrix by rotating angle radians about (x, y, z) + const LLMatrix3& rotate(const F32 angle, const LLVector3 &vec); // Rotate matrix by rotating angle radians about vec + const LLMatrix3& rotate(const F32 roll, const F32 pitch, const F32 yaw); // Rotate matrix by roll (about x), pitch (about y), and yaw (about z) + const LLMatrix3& rotate(const LLQuaternion &q); // Transform matrix by Euler angles and translating by pos + + void add(const LLMatrix3& other_matrix); // add other_matrix to this one // This operator is misleading as to operation direction -// friend LLVector3 operator*(const LLMatrix3 &a, const LLVector3 &b); // Apply rotation a to vector b +// friend LLVector3 operator*(const LLMatrix3 &a, const LLVector3 &b); // Apply rotation a to vector b - friend LLVector3 operator*(const LLVector3 &a, const LLMatrix3 &b); // Apply rotation b to vector a - friend LLVector3d operator*(const LLVector3d &a, const LLMatrix3 &b); // Apply rotation b to vector a - friend LLMatrix3 operator*(const LLMatrix3 &a, const LLMatrix3 &b); // Return a * b + friend LLVector3 operator*(const LLVector3 &a, const LLMatrix3 &b); // Apply rotation b to vector a + friend LLVector3d operator*(const LLVector3d &a, const LLMatrix3 &b); // Apply rotation b to vector a + friend LLMatrix3 operator*(const LLMatrix3 &a, const LLMatrix3 &b); // Return a * b - friend bool operator==(const LLMatrix3 &a, const LLMatrix3 &b); // Return a == b - friend bool operator!=(const LLMatrix3 &a, const LLMatrix3 &b); // Return a != b + friend bool operator==(const LLMatrix3 &a, const LLMatrix3 &b); // Return a == b + friend bool operator!=(const LLMatrix3 &a, const LLMatrix3 &b); // Return a != b - friend const LLMatrix3& operator*=(LLMatrix3 &a, const LLMatrix3 &b); // Return a * b - friend const LLMatrix3& operator*=(LLMatrix3 &a, F32 scalar ); // Return a * scalar + friend const LLMatrix3& operator*=(LLMatrix3 &a, const LLMatrix3 &b); // Return a * b + friend const LLMatrix3& operator*=(LLMatrix3 &a, F32 scalar ); // Return a * scalar - friend std::ostream& operator<<(std::ostream& s, const LLMatrix3 &a); // Stream a + friend std::ostream& operator<<(std::ostream& s, const LLMatrix3 &a); // Stream a }; inline LLMatrix3::LLMatrix3(void) { - mMatrix[0][0] = 1.f; - mMatrix[0][1] = 0.f; - mMatrix[0][2] = 0.f; + mMatrix[0][0] = 1.f; + mMatrix[0][1] = 0.f; + mMatrix[0][2] = 0.f; - mMatrix[1][0] = 0.f; - mMatrix[1][1] = 1.f; - mMatrix[1][2] = 0.f; + mMatrix[1][0] = 0.f; + mMatrix[1][1] = 1.f; + mMatrix[1][2] = 0.f; - mMatrix[2][0] = 0.f; - mMatrix[2][1] = 0.f; - mMatrix[2][2] = 1.f; + mMatrix[2][0] = 0.f; + mMatrix[2][1] = 0.f; + mMatrix[2][2] = 1.f; } inline LLMatrix3::LLMatrix3(const F32 *mat) { - mMatrix[0][0] = mat[0]; - mMatrix[0][1] = mat[1]; - mMatrix[0][2] = mat[2]; + mMatrix[0][0] = mat[0]; + mMatrix[0][1] = mat[1]; + mMatrix[0][2] = mat[2]; - mMatrix[1][0] = mat[3]; - mMatrix[1][1] = mat[4]; - mMatrix[1][2] = mat[5]; + mMatrix[1][0] = mat[3]; + mMatrix[1][1] = mat[4]; + mMatrix[1][2] = mat[5]; - mMatrix[2][0] = mat[6]; - mMatrix[2][1] = mat[7]; - mMatrix[2][2] = mat[8]; + mMatrix[2][0] = mat[6]; + mMatrix[2][1] = mat[7]; + mMatrix[2][2] = mat[8]; } @@ -187,7 +187,7 @@ inline LLMatrix3::LLMatrix3(const F32 *mat) // Creating Rotation Matricies From Object Axes // -------------------------------------------- // Suppose you know the three axes of some object in some "absolute-frame". -// If you take those three vectors and throw them into the rows of +// If you take those three vectors and throw them into the rows of // a rotation matrix what do you get? // // R = | X0 X1 X2 | @@ -198,11 +198,11 @@ inline LLMatrix3::LLMatrix3(const F32 *mat) // // Transpose the matrix and have it operate on a vector... // -// V * R_transpose = [ V0 V1 V2 ] * | X0 Y0 Z0 | -// | X1 Y1 Z1 | +// V * R_transpose = [ V0 V1 V2 ] * | X0 Y0 Z0 | +// | X1 Y1 Z1 | // | X2 Y2 Z2 | -// -// = [ V*X V*Y V*Z ] +// +// = [ V*X V*Y V*Z ] // // = components of V that are parallel to the three object axes // |