source: GTP/trunk/App/Demos/Illum/pathmap/Transformation.hpp @ 2197

#pragma once

#include "Vector.hpp"
#include "Float.h"
#include <math.h>

typedef float m3x3Type[3][3];

/*!
\brief 3D linear transformation + translation class.
Used by the ray-tracing system to store entity modelling transformations. Class Transformed is an Intersecable 
that refers to an Intersectable and contains a Transformation.
*/
class Transformation {
public:
        float m[3][3];
        float t[3];

        Transformation(std::istream& isc)
        {
                for(int i=0;i < 3;i++)
                        for(int j=0;j < 3;j++)
                                isc >> m[i][j];
                for(int ti=0;ti < 3;ti++)
                                isc >> t[ti];
        }

        Transformation()
        {
                m[0][0] = m[1][1] = m[2][2] = 1.0f;
                m[0][1] = m[0][2] = m [1][0] = m[1][2] = m[2][0] = m[2][1] = 0.0f;
                t[0] = t[1] = t[2] = 0.0f;
        }
        
        inline void fill (float m00, float m01, float m02,
                                        float m10, float m11, float m12,
                                        float m20, float m21, float m22,
                                        float t0, float t1, float t2){
/*              m[0][0] = m00;
                m[0][1] = m01;
                m[0][2] = m02;

                m[1][0] = m10;
                m[1][1] = m11;
                m[1][2] = m12;

                m[2][0] = m20;
                m[2][1] = m21;
                m[2][2] = m22;*/
                
                m[0][0] = m00;
                m[1][0] = m01;
                m[2][0] = m02;

                m[0][1] = m10;
                m[1][1] = m11;
                m[2][1] = m12;

                m[0][2] = m20;
                m[1][2] = m21;
                m[2][2] = m22;

                t[0] = t0;
                t[1] = t1;
                t[2] = t2;
        }

        inline void setInvert (Transformation& mA);
        inline void transformPoint (const Vector& vIn, Vector& vOut) const;
        inline void transformDirection (const Vector& vIn, Vector& vOut) const;
        inline void transformPointTransposed (const Vector& vIn, Vector& vOut) const;
        inline void transformDirectionTransposed (const Vector& vIn, Vector& vOut) const;
        inline void rotateX(float angle);
        inline void rotateY(float angle);
        inline void rotateZ(float angle);
        inline void scale(float factor);
};


void Transformation::setInvert (Transformation& mA)
{
        m3x3Type& A = mA.m;
        
        // generated by maple  C(A_inv,optimized);       
        float           t4 = A[0][0]*A[1][1];
        float       t6 = A[0][0]*A[1][2];
        float       t8 = A[0][1]*A[1][0];
        float       t10 = A[0][2]*A[1][0];
        float       t12 = A[0][1]*A[2][0];
        float       t14 = A[0][2]*A[2][0];
        float       t17 = 1/(t4*A[2][2]-t6*A[2][1]-t8*A[2][2]+t10*A[2][1]+t12*A[1][2]-t14*A[1][1]);
        
//      assert (!_isnan (t17));
        
        m[0][0] = (A[1][1]*A[2][2]-A[1][2]*A[2][1])*t17;
        m[0][1] = -(A[0][1]*A[2][2]-A[0][2]*A[2][1])*t17;
        m[0][2] = -(-A[0][1]*A[1][2]+A[0][2]*A[1][1])*t17;
        m[1][0] = -(A[1][0]*A[2][2]-A[1][2]*A[2][0])*t17;
        m[1][1] = (A[0][0]*A[2][2]-t14)*t17;
        m[1][2] = -(t6-t10)*t17;
        m[2][0] = -(-A[1][0]*A[2][1]+A[1][1]*A[2][0])*t17;
        m[2][1] = -(A[0][0]*A[2][1]-t12)*t17;
        m[2][2] = (t4-t8)*t17;

        t[0] = -(mA.t[0] * m[0][0] + mA.t[1] * m[0][1] + mA.t[2] * m[0][2]);
        t[1] = -(mA.t[0] * m[1][0] + mA.t[1] * m[1][1] + mA.t[2] * m[1][2]);
        t[2] = -(mA.t[0] * m[2][0] + mA.t[1] * m[2][1] + mA.t[2] * m[2][2]);

}

//! vOut = Matrix * vIn,  matrix is on the left side
inline void Transformation::transformPoint (const Vector& vIn, Vector& vOut) const
{
        vOut.x = vIn.x * m[0][0] + vIn.y * m[0][1] + vIn.z * m[0][2] + t[0];
        vOut.y = vIn.x * m[1][0] + vIn.y * m[1][1] + vIn.z * m[1][2] + t[1];
        vOut.z = vIn.x * m[2][0] + vIn.y * m[2][1] + vIn.z * m[2][2] + t[2];
}

//! vOut = vIn * Matrix,  matrix is on the right side
inline void Transformation::transformPointTransposed (const Vector& vIn, Vector& vOut) const
{
        vOut.x = vIn.x * m[0][0] + vIn.y * m[1][0] + vIn.z * m[2][0] + t[0];
        vOut.y = vIn.x * m[0][1] + vIn.y * m[1][1] + vIn.z * m[2][1] + t[1];
        vOut.z = vIn.x * m[0][2] + vIn.y * m[1][2] + vIn.z * m[2][2] + t[2];
}

//! vOut = Matrix * vIn,  matrix is on the left side
inline void Transformation::transformDirection (const Vector& vIn, Vector& vOut) const
{
        vOut.x = vIn.x * m[0][0] + vIn.y * m[0][1] + vIn.z * m[0][2];
        vOut.y = vIn.x * m[1][0] + vIn.y * m[1][1] + vIn.z * m[1][2];
        vOut.z = vIn.x * m[2][0] + vIn.y * m[2][1] + vIn.z * m[2][2];
}

//! vOut = vIn * Matrix,  matrix is on the right side
inline void Transformation::transformDirectionTransposed (const Vector& vIn, Vector& vOut) const
{
        vOut.x = vIn.x * m[0][0] + vIn.y * m[1][0] + vIn.z * m[2][0];
        vOut.y = vIn.x * m[0][1] + vIn.y * m[1][1] + vIn.z * m[2][1];
        vOut.z = vIn.x * m[0][2] + vIn.y * m[1][2] + vIn.z * m[2][2];
}

inline void Transformation::rotateZ(float angle)
{
        float cosx = cosf(angle);
        float sinx = sinf(angle);

        float tmp = m[0][0];
        m[0][0] = cosx * tmp - sinx * m[1][0];
        m[1][0] = sinx * tmp + cosx * m[1][0];

        tmp = m[0][1];
        m[0][1] = cosx * tmp - sinx * m[1][1];
        m[1][1] = sinx * tmp + cosx * m[1][1];

        tmp = m[0][2];
        m[0][2] = cosx * tmp - sinx * m[1][2];
        m[1][2] = sinx * tmp + cosx * m[1][2];

        tmp = t[0];
        t[0] = cosx * tmp - sinx * t[1];
        t[1] = sinx * tmp + cosx * t[1];
}

inline void Transformation::rotateY(float angle)
{
        float cosx = cosf(angle);
        float sinx = sinf(angle);

        float tmp = m[0][0];
        m[0][0] = cosx * tmp - sinx * m[2][0];
        m[2][0] = sinx * tmp + cosx * m[2][0];

        tmp = m[0][2];
        m[0][2] = cosx * tmp - sinx * m[2][2];
        m[2][2] = sinx * tmp + cosx * m[2][2];

        tmp = m[0][1];
        m[0][1] = cosx * tmp - sinx * m[2][1];
        m[2][1] = sinx * tmp + cosx * m[2][1];

        tmp = t[0];
        t[0] = cosx * tmp - sinx * t[2];
        t[2] = sinx * tmp + cosx * t[2];
}

inline void Transformation::rotateX(float angle)
{
        float cosx = cosf(angle);
        float sinx = sinf(angle);

        float tmp = m[1][1];
        m[1][1] = cosx * tmp - sinx * m[2][1];
        m[2][1] = sinx * tmp + cosx * m[2][1];

        tmp = m[1][2];
        m[1][2] = cosx * tmp - sinx * m[2][2];
        m[2][2] = sinx * tmp + cosx * m[2][2];

        tmp = m[1][0];
        m[1][0] = cosx * tmp - sinx * m[2][0];
        m[2][0] = sinx * tmp + cosx * m[2][0];

        tmp = t[1];
        t[1] = cosx * tmp - sinx * t[2];
        t[2] = sinx * tmp + cosx * t[2];
}

inline void Transformation::scale(float factor)
{

        for(int i=0; i<3; i++)
        {
                for(int j=0; j<3; j++)
                        m[i][j] *= factor;
                t[i] *= factor;
        }
        
}