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/**
* @file llmatrix3a.h
* @brief LLMatrix3a class header file - memory aligned and vectorized 3x3 matrix
*
* $LicenseInfo:firstyear=2010&license=viewerlgpl$
* 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
* $/LicenseInfo$
*/
#ifndef LL_LLMATRIX3A_H
#define LL_LLMATRIX3A_H
/////////////////////////////
// LLMatrix3a, LLRotation
/////////////////////////////
// This class stores a 3x3 (technically 4x3) matrix in column-major order
/////////////////////////////
/////////////////////////////
// These classes are intentionally minimal right now. If you need additional
// functionality, please contact someone with SSE experience (e.g., Falcon or
// Huseby).
/////////////////////////////
// LLMatrix3a is the base class for LLRotation, which should be used instead any time you're dealing with a
// rotation matrix.
class LLMatrix3a
{
public:
// Utility function for quickly transforming an array of LLVector4a's
// For transforming a single LLVector4a, see LLVector4a::setRotated
static void batchTransform( const LLMatrix3a& xform, const LLVector4a* src, int numVectors, LLVector4a* dst );
// Utility function to obtain the identity matrix
static inline const LLMatrix3a& getIdentity();
//////////////////////////
// Ctors
//////////////////////////
// Ctor
LLMatrix3a() {}
// Ctor for setting by columns
inline LLMatrix3a( const LLVector4a& c0, const LLVector4a& c1, const LLVector4a& c2 );
//////////////////////////
// Get/Set
//////////////////////////
// Loads from an LLMatrix3
inline void loadu(const LLMatrix3& src);
// Set rows
inline void setRows(const LLVector4a& r0, const LLVector4a& r1, const LLVector4a& r2);
// Set columns
inline void setColumns(const LLVector4a& c0, const LLVector4a& c1, const LLVector4a& c2);
// Get the read-only access to a specified column. Valid columns are 0-2, but the
// function is unchecked. You've been warned.
inline const LLVector4a& getColumn(const U32 column) const;
/////////////////////////
// Matrix modification
/////////////////////////
// Set this matrix to the product of lhs and rhs ( this = lhs * rhs )
void setMul( const LLMatrix3a& lhs, const LLMatrix3a& rhs );
// Set this matrix to the transpose of src
inline void setTranspose(const LLMatrix3a& src);
// Set this matrix to a*w + b*(1-w)
inline void setLerp(const LLMatrix3a& a, const LLMatrix3a& b, F32 w);
/////////////////////////
// Matrix inspection
/////////////////////////
// Sets all 4 elements in 'dest' to the determinant of this matrix.
// If you will be using the determinant in subsequent ops with LLVector4a, use this version
inline void getDeterminant( LLVector4a& dest ) const;
// Returns the determinant as an LLSimdScalar. Use this if you will be using the determinant
// primary for scalar operations.
inline LLSimdScalar getDeterminant() const;
// Returns nonzero if rows 0-2 and colums 0-2 contain no NaN or INF values. Row 3 is ignored
inline LLBool32 isFinite() const;
// Returns true if this matrix is equal to 'rhs' up to 'tolerance'
inline bool isApproximatelyEqual( const LLMatrix3a& rhs, F32 tolerance = F_APPROXIMATELY_ZERO ) const;
protected:
LLVector4a mColumns[3];
};
class LLRotation : public LLMatrix3a
{
public:
LLRotation() {}
// Returns true if this rotation is orthonormal with det ~= 1
inline bool isOkRotation() const;
};
#endif
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