mirror of
https://github.com/Open-Cascade-SAS/OCCT.git
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kgv
a2af24d1a9
Introduced NCollection_Mat3 class similar to NCollection_Mat4. Added NCollection_Mat4::operator() alias to NCollection_Mat4::Value(). Added NCollection_Mat4::Negated(), ::Subtracted(), ::Added(), ::Divided() operations. Added a note to NCollection_Mat4::GetData() that matrix values are stored in column-major order. Removed duplicated operator== operators from NCollection_Mat4/NCollection_Vec4/NCollection_Vec3/NCollection_Vec2 classes. Removed obsolete and no more used matrix state fields from OpenGl_Workspace. Removed obsoiete structure OpenGl_Matrix (replaced by OpenGl_Mat4). OpenGl_ShaderProgram - duplicated methods have been replaced by templates.
523 lines
15 KiB
C++
523 lines
15 KiB
C++
// Copyright (c) 2020 OPEN CASCADE SAS
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//
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// This file is part of Open CASCADE Technology software library.
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//
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// This library is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License version 2.1 as published
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// by the Free Software Foundation, with special exception defined in the file
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// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
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// distribution for complete text of the license and disclaimer of any warranty.
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//
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// Alternatively, this file may be used under the terms of Open CASCADE
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// commercial license or contractual agreement.
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#ifndef _NCollection_Mat3_HeaderFile
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#define _NCollection_Mat3_HeaderFile
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#include <NCollection_Vec3.hxx>
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#include <Standard_ConstructionError.hxx>
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//! 3x3 Matrix class.
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//! Warning, empty constructor returns an identity matrix.
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template<typename Element_t>
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class NCollection_Mat3
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{
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public:
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//! Return identity matrix.
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static NCollection_Mat3 Identity()
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{
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return NCollection_Mat3();
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}
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//! Return zero matrix.
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static NCollection_Mat3 Zero()
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{
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NCollection_Mat3 aMat; aMat.InitZero();
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return aMat;
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}
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public:
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//! Empty constructor for identity matrix.
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NCollection_Mat3()
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{
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InitIdentity();
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}
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//! Conversion constructor (explicitly converts some 3x3 matrix with other element type
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//! to a new 3x3 matrix with the element type Element_t,
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//! whose elements are static_cast'ed corresponding elements of theOtherMat3 matrix)
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//! @tparam OtherElement_t the element type of the other 3x3 matrix theOtherVec3
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//! @param theOtherMat3 the 3x3 matrix that needs to be converted
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template <typename OtherElement_t>
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explicit NCollection_Mat3 (const NCollection_Mat3<OtherElement_t>& theOtherMat3)
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{
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ConvertFrom (theOtherMat3);
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}
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//! Get element at the specified row and column.
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//! @param theRow [in] the row.to address.
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//! @param theCol [in] the column to address.
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//! @return the value of the addressed element.
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Element_t GetValue (const size_t theRow, const size_t theCol) const
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{
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return myMat[theCol * 3 + theRow];
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}
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//! Access element at the specified row and column.
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//! @param theRow [in] the row.to access.
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//! @param theCol [in] the column to access.
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//! @return reference on the matrix element.
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Element_t& ChangeValue (const size_t theRow, const size_t theCol)
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{
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return myMat[theCol * 3 + theRow];
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}
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//! Set value for the element specified by row and columns.
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//! @param theRow [in] the row to change.
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//! @param theCol [in] the column to change.
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//! @param theValue [in] the value to set.s
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void SetValue (const size_t theRow,
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const size_t theCol,
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const Element_t theValue)
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{
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myMat[theCol * 3 + theRow] = theValue;
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}
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//! Return value.
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Element_t& operator()(const size_t theRow, const size_t theCol) { return ChangeValue (theRow, theCol); }
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//! Return value.
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Element_t operator()(const size_t theRow, const size_t theCol) const { return GetValue (theRow, theCol); }
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//! Return the row.
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NCollection_Vec3<Element_t> GetRow (const size_t theRow) const
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{
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return NCollection_Vec3<Element_t> (GetValue (theRow, 0), GetValue (theRow, 1), GetValue (theRow, 2));
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}
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//! Change first 3 row values by the passed vector.
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//! @param theRow [in] the row to change.
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//! @param theVec [in] the vector of values.
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void SetRow (const size_t theRow, const NCollection_Vec3<Element_t>& theVec)
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{
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SetValue (theRow, 0, theVec.x());
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SetValue (theRow, 1, theVec.y());
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SetValue (theRow, 2, theVec.z());
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}
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//! Return the column.
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NCollection_Vec3<Element_t> GetColumn (const size_t theCol) const
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{
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return NCollection_Vec3<Element_t> (GetValue (0, theCol), GetValue (1, theCol), GetValue (2, theCol));
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}
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//! Change first 3 column values by the passed vector.
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//! @param theCol [in] the column to change.
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//! @param theVec [in] the vector of values.
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void SetColumn (const size_t theCol,
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const NCollection_Vec3<Element_t>& theVec)
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{
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SetValue (0, theCol, theVec.x());
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SetValue (1, theCol, theVec.y());
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SetValue (2, theCol, theVec.z());
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}
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//! Get vector of diagonal elements.
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//! @return vector of diagonal elements.
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NCollection_Vec3<Element_t> GetDiagonal() const
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{
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return NCollection_Vec3<Element_t> (GetValue (0, 0), GetValue (1, 1), GetValue (2, 2));
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}
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//! Change first 3 elements of the diagonal matrix.
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//! @param theVec the vector of values.
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void SetDiagonal (const NCollection_Vec3<Element_t>& theVec)
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{
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SetValue (0, 0, theVec.x());
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SetValue (1, 1, theVec.y());
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SetValue (2, 2, theVec.z());
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}
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//! Initialize the zero matrix.
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void InitZero()
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{
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std::memcpy (this, MyZeroArray, sizeof (NCollection_Mat3));
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}
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//! Checks the matrix for zero (without tolerance).
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bool IsZero() const
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{
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return std::memcmp (this, MyZeroArray, sizeof (NCollection_Mat3)) == 0;
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}
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//! Initialize the identity matrix.
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void InitIdentity()
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{
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std::memcpy (this, MyIdentityArray, sizeof (NCollection_Mat3));
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}
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//! Checks the matrix for identity (without tolerance).
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bool IsIdentity() const
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{
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return std::memcmp (this, MyIdentityArray, sizeof (NCollection_Mat3)) == 0;
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}
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//! Check this matrix for equality with another matrix (without tolerance!).
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bool IsEqual (const NCollection_Mat3& theOther) const
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{
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return std::memcmp (this, &theOther, sizeof(NCollection_Mat3)) == 0;
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}
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//! Comparison operator.
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bool operator== (const NCollection_Mat3& theMat) const { return IsEqual (theMat); }
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//! Check this vector with another vector for non-equality (without tolerance!).
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bool operator!= (const NCollection_Mat3& theOther) const { return !IsEqual (theOther); }
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//! Raw access to the data (for OpenGL exchange).
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//! the data is returned in column-major order.
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const Element_t* GetData() const { return myMat; }
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Element_t* ChangeData() { return myMat; }
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//! Multiply by the vector (M * V).
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//! @param theVec [in] the vector to multiply.
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NCollection_Vec3<Element_t> operator* (const NCollection_Vec3<Element_t>& theVec) const
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{
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return NCollection_Vec3<Element_t> (
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GetValue (0, 0) * theVec.x() + GetValue (0, 1) * theVec.y() + GetValue (0, 2) * theVec.z(),
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GetValue (1, 0) * theVec.x() + GetValue (1, 1) * theVec.y() + GetValue (1, 2) * theVec.z(),
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GetValue (2, 0) * theVec.x() + GetValue (2, 1) * theVec.y() + GetValue (2, 2) * theVec.z());
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}
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//! Compute matrix multiplication product: A * B.
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//! @param theMatA [in] the matrix "A".
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//! @param theMatB [in] the matrix "B".
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static NCollection_Mat3 Multiply (const NCollection_Mat3& theMatA,
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const NCollection_Mat3& theMatB)
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{
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NCollection_Mat3 aMatRes;
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size_t aInputElem;
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for (size_t aResElem = 0; aResElem < 9; ++aResElem)
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{
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aMatRes.myMat[aResElem] = (Element_t )0;
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for (aInputElem = 0; aInputElem < 3; ++aInputElem)
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{
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aMatRes.myMat[aResElem] += theMatA.GetValue(aResElem % 3, aInputElem)
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* theMatB.GetValue(aInputElem, aResElem / 3);
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}
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}
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return aMatRes;
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}
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//! Compute matrix multiplication.
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//! @param theMat [in] the matrix to multiply.
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void Multiply (const NCollection_Mat3& theMat)
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{
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*this = Multiply(*this, theMat);
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}
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//! Multiply by the another matrix.
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//! @param theMat [in] the other matrix.
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NCollection_Mat3& operator*= (const NCollection_Mat3& theMat)
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{
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Multiply (theMat);
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return *this;
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}
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//! Compute matrix multiplication product.
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//! @param theMat [in] the other matrix.
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//! @return result of multiplication.
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Standard_NODISCARD NCollection_Mat3 operator* (const NCollection_Mat3& theMat) const
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{
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return Multiplied (theMat);
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}
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//! Compute matrix multiplication product.
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//! @param theMat [in] the other matrix.
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//! @return result of multiplication.
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Standard_NODISCARD NCollection_Mat3 Multiplied (const NCollection_Mat3& theMat) const
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{
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NCollection_Mat3 aTempMat (*this);
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aTempMat *= theMat;
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return aTempMat;
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}
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//! Compute per-component multiplication.
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//! @param theFactor [in] the scale factor.
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void Multiply (const Element_t theFactor)
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{
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for (size_t i = 0; i < 9; ++i)
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{
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myMat[i] *= theFactor;
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}
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}
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//! Compute per-element multiplication.
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//! @param theFactor [in] the scale factor.
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NCollection_Mat3& operator*= (const Element_t theFactor)
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{
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Multiply (theFactor);
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return *this;
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}
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//! Compute per-element multiplication.
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//! @param theFactor [in] the scale factor.
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//! @return the result of multiplication.
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Standard_NODISCARD NCollection_Mat3 operator* (const Element_t theFactor) const
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{
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return Multiplied (theFactor);
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}
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//! Compute per-element multiplication.
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//! @param theFactor [in] the scale factor.
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//! @return the result of multiplication.
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Standard_NODISCARD NCollection_Mat3 Multiplied (const Element_t theFactor) const
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{
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NCollection_Mat3 aTempMat (*this);
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aTempMat *= theFactor;
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return aTempMat;
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}
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//! Compute per-component division.
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//! @param theFactor [in] the scale factor.
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void Divide (const Element_t theFactor)
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{
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for (size_t i = 0; i < 9; ++i)
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{
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myMat[i] /= theFactor;
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}
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}
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//! Per-component division.
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//! @param theScalar [in] the scale factor.
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NCollection_Mat3& operator/= (const Element_t theScalar)
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{
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Divide (theScalar);
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return *this;
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}
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//! Divides all the coefficients of the matrix by scalar.
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Standard_NODISCARD NCollection_Mat3 Divided (const Element_t theScalar) const
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{
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NCollection_Mat3 aTempMat (*this);
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aTempMat /= theScalar;
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return aTempMat;
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}
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//! Divides all the coefficients of the matrix by scalar.
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Standard_NODISCARD NCollection_Mat3 operator/ (const Element_t theScalar) const
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{
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return Divided (theScalar);
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}
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//! Per-component addition of another matrix.
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void Add (const NCollection_Mat3& theMat)
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{
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for (size_t i = 0; i < 9; ++i)
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{
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myMat[i] += theMat.myMat[i];
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}
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}
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//! Per-component addition of another matrix.
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NCollection_Mat3& operator+= (const NCollection_Mat3& theMat)
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{
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Add (theMat);
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return *this;
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}
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//! Per-component subtraction of another matrix.
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void Subtract (const NCollection_Mat3& theMat)
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{
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for (size_t i = 0; i < 9; ++i)
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{
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myMat[i] -= theMat.myMat[i];
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}
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}
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//! Per-component subtraction of another matrix.
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NCollection_Mat3& operator-= (const NCollection_Mat3& theMat)
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{
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Subtract (theMat);
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return *this;
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}
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//! Per-component addition of another matrix.
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Standard_NODISCARD NCollection_Mat3 Added (const NCollection_Mat3& theMat) const
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{
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NCollection_Mat3 aMat (*this);
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aMat += theMat;
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return aMat;
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}
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//! Per-component addition of another matrix.
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Standard_NODISCARD NCollection_Mat3 operator+ (const NCollection_Mat3& theMat) const
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{
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return Added (theMat);
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}
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//! Per-component subtraction of another matrix.
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Standard_NODISCARD NCollection_Mat3 Subtracted (const NCollection_Mat3& theMat) const
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{
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NCollection_Mat3 aMat (*this);
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aMat -= theMat;
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return aMat;
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}
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//! Per-component subtraction of another matrix.
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Standard_NODISCARD NCollection_Mat3 operator- (const NCollection_Mat3& theMat) const
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{
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return Subtracted (theMat);
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}
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//! Returns matrix with all components negated.
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Standard_NODISCARD NCollection_Mat3 Negated() const
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{
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NCollection_Mat3 aMat;
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for (size_t i = 0; i < 9; ++i)
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{
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aMat.myMat[i] = -myMat[i];
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}
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return aMat;
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}
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//! Returns matrix with all components negated.
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Standard_NODISCARD NCollection_Mat3 operator-() const
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{
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return Negated();
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}
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//! Transpose the matrix.
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//! @return transposed copy of the matrix.
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Standard_NODISCARD NCollection_Mat3 Transposed() const
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{
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NCollection_Mat3 aTempMat;
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aTempMat.SetRow (0, GetColumn (0));
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aTempMat.SetRow (1, GetColumn (1));
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aTempMat.SetRow (2, GetColumn (2));
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return aTempMat;
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}
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//! Transpose the matrix.
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void Transpose()
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{
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*this = Transposed();
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}
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//! Return adjoint (adjugate matrix, e.g. conjugate transpose).
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Standard_NODISCARD NCollection_Mat3 Adjoint() const
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{
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NCollection_Mat3 aMat;
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aMat.SetRow (0, NCollection_Vec3<Element_t>::Cross (GetRow(1), GetRow(2)));
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aMat.SetRow (1, NCollection_Vec3<Element_t>::Cross (GetRow(2), GetRow(0)));
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aMat.SetRow (2, NCollection_Vec3<Element_t>::Cross (GetRow(0), GetRow(1)));
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return aMat;
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}
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//! Compute inverted matrix.
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//! @param theOutMx [out] the inverted matrix
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//! @param theDet [out] determinant of matrix
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//! @return true if reversion success
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bool Inverted (NCollection_Mat3& theInv, Element_t& theDet) const
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{
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const NCollection_Mat3 aMat = Adjoint();
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theDet = aMat.GetRow(0).Dot (GetRow(0));
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if (theDet == Element_t(0))
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{
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return false;
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}
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theInv = aMat.Transposed() / theDet;
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return true;
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}
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//! Compute inverted matrix.
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//! @param theOutMx [out] the inverted matrix
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//! @return true if reversion success
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bool Inverted (NCollection_Mat3& theInv) const
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{
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Element_t aDet;
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return Inverted (theInv, aDet);
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}
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//! Return inverted matrix.
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NCollection_Mat3 Inverted() const
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{
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NCollection_Mat3 anInv;
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if (!Inverted (anInv))
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{
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throw Standard_ConstructionError ("NCollection_Mat3::Inverted() - matrix has zero determinant");
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}
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return anInv;
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}
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//! Take values from NCollection_Mat3 with a different element type with type conversion.
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template <typename Other_t>
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void ConvertFrom (const NCollection_Mat3<Other_t>& theFrom)
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{
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for (int anIdx = 0; anIdx < 9; ++anIdx)
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{
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myMat[anIdx] = static_cast<Element_t> (theFrom.myMat[anIdx]);
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}
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}
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//! Maps plain C array to matrix type.
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static NCollection_Mat3<Element_t>& Map (Element_t* theData)
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{
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return *reinterpret_cast<NCollection_Mat3<Element_t>*> (theData);
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}
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//! Maps plain C array to matrix type.
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static const NCollection_Mat3<Element_t>& Map (const Element_t* theData)
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{
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return *reinterpret_cast<const NCollection_Mat3<Element_t>*> (theData);
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}
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//! Dumps the content of me into the stream
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void DumpJson (Standard_OStream& theOStream, Standard_Integer) const
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{
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OCCT_DUMP_FIELD_VALUES_NUMERICAL (theOStream, "NCollection_Mat3", 9,
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GetValue (0, 0), GetValue (0, 1), GetValue (0, 2),
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GetValue (1, 0), GetValue (1, 1), GetValue (1, 2),
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GetValue (2, 0), GetValue (2, 1), GetValue (2, 2))
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}
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private:
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Element_t myMat[9];
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private:
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static const Element_t MyZeroArray[9];
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static const Element_t MyIdentityArray[9];
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// All instantiations are friend to each other
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template<class OtherType> friend class NCollection_Mat3;
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};
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template<typename Element_t>
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const Element_t NCollection_Mat3<Element_t>::MyZeroArray[] =
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{0, 0, 0,
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0, 0, 0,
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0, 0, 0};
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template<typename Element_t>
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const Element_t NCollection_Mat3<Element_t>::MyIdentityArray[] =
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{1, 0, 0,
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0, 1, 0,
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0, 0, 1};
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#if defined(_MSC_VER) && (_MSC_VER >= 1900)
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#include <type_traits>
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static_assert(std::is_trivially_copyable<NCollection_Mat3<float>>::value, "NCollection_Mat3 is not is_trivially_copyable() structure!");
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static_assert(std::is_standard_layout <NCollection_Mat3<float>>::value, "NCollection_Mat3 is not is_standard_layout() structure!");
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static_assert(sizeof(NCollection_Mat3<float>) == sizeof(float)*9, "NCollection_Mat3 is not packed/aligned!");
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#endif
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#endif // _NCollection_Mat3_HeaderFile
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