177 lines
4.9 KiB
C++
177 lines
4.9 KiB
C++
/* -*- C++ -*- ------------------------------------------------------------
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Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
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The Configurable Math Library (CML) is distributed under the terms of the
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Boost Software License, v1.0 (see cml/LICENSE for details).
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*-----------------------------------------------------------------------*/
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/** @file
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* @brief
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*/
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#ifndef vector_transform_h
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#define vector_transform_h
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#include <cml/mathlib/checking.h>
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/* Functions for transforming a vector, representing a geometric point or
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* or vector, by an affine transfom.
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*
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* Note: This functionality may be provisional, depending on what architecture
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* we settle on for the higher-level math functions. If we do keep these
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* functions, then this code may ending up being a placeholder for expression
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* template code.
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*/
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namespace cml {
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/** A fixed-size temporary 4D vector */
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#define TEMP_VEC4 vector< \
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typename et::ScalarPromote< \
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typename MatT::value_type, \
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typename VecT::value_type \
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>::type, \
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fixed<4> \
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>
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/** A fixed-size temporary 3D vector */
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#define TEMP_VEC3 vector< \
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typename et::ScalarPromote< \
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typename MatT::value_type, \
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typename VecT::value_type \
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>::type, \
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fixed<3> \
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>
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/** A fixed-size temporary 2D vector */
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#define TEMP_VEC2 vector< \
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typename et::ScalarPromote< \
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typename MatT::value_type, \
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typename VecT::value_type \
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>::type, \
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fixed<2> \
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>
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namespace detail {
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template < class MatT, class VecT > TEMP_VEC4
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transform_vector_4D(const MatT& m, const VecT& v, row_basis) {
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return v*m;
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}
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template < class MatT, class VecT > TEMP_VEC4
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transform_vector_4D(const MatT& m, const VecT& v, col_basis) {
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return m*v;
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}
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} // namespace detail
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/** Apply a 4x4 homogeneous transform matrix to a 4D vector */
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template < class MatT, class VecT > TEMP_VEC4
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transform_vector_4D(const MatT& m, const VecT& v) {
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return detail::transform_vector_4D(m,v,typename MatT::basis_orient());
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}
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/** Apply a homogeneous (e.g. perspective) transform to a 3D point. */
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template < class MatT, class VecT > TEMP_VEC3
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transform_point_4D(const MatT& m, const VecT& v)
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{
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typedef TEMP_VEC3 vector_type;
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typedef typename TEMP_VEC3::coordinate_type coordinate_type;
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/* Checking */
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detail::CheckMatHomogeneous3D(m);
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detail::CheckVec3(v);
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/* Compute the 4D point: */
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TEMP_VEC4 v4 = transform_vector_4D(
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m, TEMP_VEC4(v[0], v[1], v[2], coordinate_type(1)));
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/* Return the projected point: */
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coordinate_type w = v4[3];
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return vector_type(v4[0]/w, v4[1]/w, v4[2]/w);
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}
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/** Apply a 3D affine transform to a 3D point */
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template < class MatT, class VecT > TEMP_VEC3
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transform_point(const MatT& m, const VecT& v)
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{
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typedef TEMP_VEC3 vector_type;
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/* Checking */
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detail::CheckMatAffine3D(m);
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detail::CheckVec3(v);
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return vector_type(
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m.basis_element(0,0)*v[0]+m.basis_element(1,0)*v[1]+
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m.basis_element(2,0)*v[2]+m.basis_element(3,0),
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m.basis_element(0,1)*v[0]+m.basis_element(1,1)*v[1]+
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m.basis_element(2,1)*v[2]+m.basis_element(3,1),
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m.basis_element(0,2)*v[0]+m.basis_element(1,2)*v[1]+
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m.basis_element(2,2)*v[2]+m.basis_element(3,2)
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);
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}
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/** Apply a 3D affine transform to a 3D vector */
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template < class MatT, class VecT > TEMP_VEC3
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transform_vector(const MatT& m, const VecT& v)
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{
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typedef TEMP_VEC3 vector_type;
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/* Checking */
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detail::CheckMatLinear3D(m);
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detail::CheckVec3(v);
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return vector_type(
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m.basis_element(0,0)*v[0]+m.basis_element(1,0)*v[1]+
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m.basis_element(2,0)*v[2],
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m.basis_element(0,1)*v[0]+m.basis_element(1,1)*v[1]+
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m.basis_element(2,1)*v[2],
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m.basis_element(0,2)*v[0]+m.basis_element(1,2)*v[1]+
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m.basis_element(2,2)*v[2]
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);
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}
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/** Apply a 2D affine transform to a 2D point */
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template < class MatT, class VecT > TEMP_VEC2
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transform_point_2D(const MatT& m, const VecT& v)
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{
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typedef TEMP_VEC2 vector_type;
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/* Checking */
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detail::CheckMatAffine2D(m);
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detail::CheckVec2(v);
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return vector_type(
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m.basis_element(0,0)*v[0]+m.basis_element(1,0)*v[1]+
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m.basis_element(2,0),
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m.basis_element(0,1)*v[0]+m.basis_element(1,1)*v[1]+
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m.basis_element(2,1)
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);
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}
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/** Apply a 2D affine transform to a 2D vector */
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template < class MatT, class VecT > TEMP_VEC2
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transform_vector_2D(const MatT& m, const VecT& v)
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{
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typedef TEMP_VEC2 vector_type;
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/* Checking */
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detail::CheckMatLinear2D(m);
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detail::CheckVec2(v);
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return vector_type(
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m.basis_element(0,0)*v[0] + m.basis_element(1,0)*v[1],
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m.basis_element(0,1)*v[0] + m.basis_element(1,1)*v[1]
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);
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}
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#undef TEMP_VEC4
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#undef TEMP_VEC3
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#undef TEMP_VEC2
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} // namespace cml
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#endif
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