1 | #ifndef NX_FOUNDATION_NxMat33T
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2 | #define NX_FOUNDATION_NxMat33T
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3 | /*----------------------------------------------------------------------------*\
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4 | |
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5 | | Public Interface to NovodeX Technology
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6 | |
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7 | | www.novodex.com
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8 | |
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9 | \*----------------------------------------------------------------------------*/
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10 | /** \addtogroup foundation
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11 | @{
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12 | */
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13 |
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14 | #include "NxVec3.h"
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15 | #include "NxQuat.h"
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16 |
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17 |
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18 | /**
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19 | \brief Identifies a special matrix. Can be passed to the #NxMat33 constructor.
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20 | */
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21 | enum NxMatrixType
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22 | {
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23 | /**
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24 | \brief Matrix of all zeros.
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25 | */
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26 | NX_ZERO_MATRIX,
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27 |
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28 | /**
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29 | \brief Identity matrix.
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30 | */
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31 | NX_IDENTITY_MATRIX
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32 | };
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33 |
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34 | #include "Nx9F32.h" //change this if changing type below, to Nx9F32, Nx12F32, Nx16F32
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35 |
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36 | typedef Nx9Real Mat33DataType; //takes Nx9Real, Nx12Real, Nx16Real
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37 |
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38 | /**
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39 | \brief 3x3 Matrix Class.
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40 |
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41 | The idea of the matrix/vector classes is to partition them into two parts:
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42 | One is the data structure which may have different formatting (3x3, 3x4, 4x4),
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43 | row or column major. The other is a template class which has all the operators
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44 | but is storage format independent.
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45 |
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46 | This way it should be easier to change formats depending on what is faster/slower
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47 | on a particular platform.
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48 |
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49 | Design issue: We use nameless struct/unions here.
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50 | Design issue: this used to be implemented with a template. This had no benefit
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51 | but it added syntactic complexity. Currently we just use a typedef and a preprocessor switch
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52 | to change between different memory layouts.
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53 |
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54 | The matrix math in this class is storage format (row/col major) independent as far
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55 | as the user is concerned.
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56 | When the user wants to get/set raw data, he needs to specify what order the data is
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57 | coming in.
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58 |
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59 | */
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60 | class NxMat33
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61 | {
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62 | public:
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63 | NX_INLINE NxMat33();
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64 |
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65 | /**
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66 | \param type Special matrix type to initialize with.
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67 |
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68 | @see NxMatrixType
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69 | */
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70 | NX_INLINE NxMat33(NxMatrixType type);
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71 | NX_INLINE NxMat33(const NxVec3 &row0, const NxVec3 &row1, const NxVec3 &row2);
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72 |
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73 | NX_INLINE NxMat33(const NxMat33&m);
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74 | NX_INLINE NxMat33(const NxQuat &m);
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75 | NX_INLINE ~NxMat33();
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76 | NX_INLINE const NxMat33& operator=(const NxMat33 &src);
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77 |
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78 | // Access elements
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79 |
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80 | //low level data access, single or double precision, with eventual translation:
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81 | //for dense 9 element data
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82 | NX_INLINE void setRowMajor(const NxF32 *);
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83 | NX_INLINE void setColumnMajor(const NxF32 *);
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84 | NX_INLINE void getRowMajor(NxF32 *) const;
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85 | NX_INLINE void getColumnMajor(NxF32 *) const;
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86 |
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87 | NX_INLINE void setRowMajor(const NxF64 *);
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88 | NX_INLINE void setColumnMajor(const NxF64 *);
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89 | NX_INLINE void getRowMajor(NxF64 *) const;
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90 | NX_INLINE void getColumnMajor(NxF64 *) const;
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91 |
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92 |
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93 | //for loose 4-padded data.
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94 | NX_INLINE void setRowMajorStride4(const NxF32 *);
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95 | NX_INLINE void setColumnMajorStride4(const NxF32 *);
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96 | NX_INLINE void getRowMajorStride4(NxF32 *) const;
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97 | NX_INLINE void getColumnMajorStride4(NxF32 *) const;
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98 |
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99 | NX_INLINE void setRowMajorStride4(const NxF64 *);
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100 | NX_INLINE void setColumnMajorStride4(const NxF64 *);
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101 | NX_INLINE void getRowMajorStride4(NxF64 *) const;
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102 | NX_INLINE void getColumnMajorStride4(NxF64 *) const;
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103 |
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104 |
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105 | NX_INLINE void setRow(int row, const NxVec3 &);
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106 | NX_INLINE void setColumn(int col, const NxVec3 &);
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107 | NX_INLINE void getRow(int row, NxVec3 &) const;
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108 | NX_INLINE void getColumn(int col, NxVec3 &) const;
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109 |
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110 | NX_INLINE NxVec3 getRow(int row) const;
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111 | NX_INLINE NxVec3 getColumn(int col) const;
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112 |
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113 |
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114 | //element access:
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115 | NX_INLINE NxReal & operator()(int row, int col);
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116 | NX_INLINE const NxReal & operator() (int row, int col) const;
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117 |
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118 | /**
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119 | \brief returns true for identity matrix
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120 | */
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121 | NX_INLINE bool isIdentity() const;
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122 |
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123 | /**
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124 | \brief returns true for zero matrix
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125 | */
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126 | NX_INLINE bool isZero() const;
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127 |
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128 | /**
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129 | \brief returns true if all elems are finite (not NAN or INF, etc.)
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130 | */
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131 | NX_INLINE bool isFinite() const;
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132 |
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133 | //create special matrices:
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134 |
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135 | /**
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136 | \brief sets this matrix to the zero matrix.
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137 | */
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138 | NX_INLINE void zero();
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139 |
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140 | /**
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141 | \brief sets this matrix to the identity matrix.
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142 | */
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143 | NX_INLINE void id();
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144 |
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145 | /**
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146 | \brief this = -this
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147 | */
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148 | NX_INLINE void setNegative();
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149 |
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150 | /**
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151 | \brief sets this matrix to the diagonal matrix.
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152 | */
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153 | NX_INLINE void diagonal(const NxVec3 &vec);
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154 |
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155 | /**
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156 | \brief Sets this matrix to the Star(Skew Symetric) matrix.
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157 |
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158 | So that star(v) * x = v.cross(x) .
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159 | */
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160 | NX_INLINE void star(const NxVec3 &vec);
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161 |
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162 |
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163 | NX_INLINE void fromQuat(const NxQuat &);
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164 | NX_INLINE void toQuat(NxQuat &) const;
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165 |
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166 | //modifications:
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167 |
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168 | NX_INLINE const NxMat33 &operator +=(const NxMat33 &s);
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169 | NX_INLINE const NxMat33 &operator -=(const NxMat33 &s);
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170 | NX_INLINE const NxMat33 &operator *=(NxReal s);
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171 | NX_INLINE const NxMat33 &operator /=(NxReal s);
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172 |
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173 | /*
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174 | Gram-Schmidt orthogonalization to correct numerical drift, plus column normalization
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175 | Caution: I believe the current implementation does not work right!
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176 | */
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177 | // NX_INLINE void orthonormalize();
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178 |
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179 |
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180 | /**
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181 | \brief returns determinant
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182 | */
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183 | NX_INLINE NxReal determinant() const;
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184 |
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185 | /**
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186 | \brief assigns inverse to dest.
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187 |
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188 | Returns false if singular (i.e. if no inverse exists), setting dest to identity.
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189 | */
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190 | NX_INLINE bool getInverse(NxMat33& dest) const;
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191 |
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192 | /**
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193 | \brief this = transpose(other)
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194 |
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195 | this == other is OK.
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196 | */
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197 | NX_INLINE void setTransposed(const NxMat33& other);
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198 |
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199 | /**
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200 | \brief this = transpose(this)
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201 | */
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202 | NX_INLINE void setTransposed();
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203 |
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204 | /**
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205 | \brief this = this * [ d.x 0 0; 0 d.y 0; 0 0 d.z];
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206 | */
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207 | NX_INLINE void multiplyDiagonal(const NxVec3 &d);
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208 |
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209 | /**
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210 | */
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211 | NX_INLINE void multiplyDiagonalTranspose(const NxVec3 &d);
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212 |
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213 | /**
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214 | \brief dst = this * [ d.x 0 0; 0 d.y 0; 0 0 d.z];
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215 | */
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216 | NX_INLINE void multiplyDiagonal(const NxVec3 &d, NxMat33 &dst) const;
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217 |
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218 | /**
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219 | \brief dst = this * [ d.x 0 0; 0 d.y 0; 0 0 d.z];
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220 | */
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221 | NX_INLINE void multiplyDiagonalTranspose(const NxVec3 &d, NxMat33 &dst) const;
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222 |
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223 | /**
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224 | \brief dst = this * src
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225 | */
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226 | NX_INLINE void multiply(const NxVec3 &src, NxVec3 &dst) const;
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227 | /**
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228 | \brief dst = transpose(this) * src
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229 | */
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230 | NX_INLINE void multiplyByTranspose(const NxVec3 &src, NxVec3 &dst) const;
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231 |
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232 | /**
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233 | \brief this = a + b
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234 | */
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235 | NX_INLINE void add(const NxMat33 & a, const NxMat33 & b);
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236 | /***
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237 | \brief this = a - b
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238 | */
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239 | NX_INLINE void subtract(const NxMat33 &a, const NxMat33 &b);
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240 | /**
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241 | \brief this = s * a;
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242 | */
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243 | NX_INLINE void multiply(NxReal s, const NxMat33 & a);
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244 | /**
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245 | \brief this = left * right
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246 | */
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247 | NX_INLINE void multiply(const NxMat33& left, const NxMat33& right);
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248 | /**
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249 | \brief this = transpose(left) * right
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250 |
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251 | \note #multiplyByTranspose() is faster.
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252 | */
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253 | NX_INLINE void multiplyTransposeLeft(const NxMat33& left, const NxMat33& right);
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254 | /**
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255 | \brief this = left * transpose(right)
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256 |
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257 | \note faster than #multiplyByTranspose().
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258 | */
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259 | NX_INLINE void multiplyTransposeRight(const NxMat33& left, const NxMat33& right);
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260 |
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261 | /**
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262 | \brief this = left * transpose(right)
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263 | */
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264 | NX_INLINE void multiplyTransposeRight(const NxVec3 &left, const NxVec3 &right);
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265 |
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266 | /**
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267 | \brief this = rotation matrix around X axis
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268 |
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269 | <b>Unit:</b> Radians
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270 | */
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271 | NX_INLINE void rotX(NxReal angle);
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272 |
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273 | /**
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274 | \brief this = rotation matrix around Y axis
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275 |
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276 | <b>Unit:</b> Radians
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277 | */
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278 | NX_INLINE void rotY(NxReal angle);
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279 |
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280 | /**
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281 | \brief this = rotation matrix around Z axis
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282 |
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283 | <b>Unit:</b> Radians
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284 | */
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285 | NX_INLINE void rotZ(NxReal angle);
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286 |
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287 |
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288 | //overloaded multiply, and transposed-multiply ops:
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289 |
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290 | /**
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291 | \brief returns transpose(this)*src
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292 | */
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293 | NX_INLINE NxVec3 operator% (const NxVec3 & src) const;
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294 | /**
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295 | \brief matrix vector product
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296 | */
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297 | NX_INLINE NxVec3 operator* (const NxVec3 & src) const;
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298 | /**
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299 | \brief matrix product
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300 | */
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301 | NX_INLINE NxMat33& operator*= (const NxMat33& mat);
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302 | /**
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303 | \brief matrix difference
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304 | */
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305 | NX_INLINE NxMat33 operator- (const NxMat33& mat) const;
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306 | /**
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307 | \brief matrix addition
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308 | */
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309 | NX_INLINE NxMat33 operator+ (const NxMat33& mat) const;
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310 | /**
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311 | \brief matrix product
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312 | */
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313 | NX_INLINE NxMat33 operator* (const NxMat33& mat) const;
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314 | /**
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315 | \brief matrix scalar product
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316 | */
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317 | NX_INLINE NxMat33 operator* (float s) const;
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318 |
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319 | private:
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320 | Mat33DataType data;
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321 | };
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322 |
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323 |
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324 | NX_INLINE NxMat33::NxMat33()
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325 | {
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326 | }
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327 |
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328 |
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329 | NX_INLINE NxMat33::NxMat33(NxMatrixType type)
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330 | {
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331 | switch(type)
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332 | {
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333 | case NX_ZERO_MATRIX: zero(); break;
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334 | case NX_IDENTITY_MATRIX: id(); break;
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335 | }
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336 | }
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337 |
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338 |
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339 | NX_INLINE NxMat33::NxMat33(const NxMat33& a)
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340 | {
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341 | data = a.data;
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342 | }
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343 |
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344 |
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345 | NX_INLINE NxMat33::NxMat33(const NxQuat &q)
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346 | {
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347 | fromQuat(q);
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348 | }
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349 |
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350 | NX_INLINE NxMat33::NxMat33(const NxVec3 &row0, const NxVec3 &row1, const NxVec3 &row2)
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351 | {
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352 | data.s._11 = row0.x; data.s._12 = row0.y; data.s._13 = row0.z;
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353 | data.s._21 = row1.x; data.s._22 = row1.y; data.s._23 = row1.z;
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354 | data.s._31 = row2.x; data.s._32 = row2.y; data.s._33 = row2.z;
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355 | }
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356 |
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357 |
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358 | NX_INLINE NxMat33::~NxMat33()
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359 | {
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360 | //nothing
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361 | }
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362 |
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363 |
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364 | NX_INLINE const NxMat33& NxMat33::operator=(const NxMat33 &a)
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365 | {
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366 | data = a.data;
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367 | return *this;
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368 | }
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369 |
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370 |
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371 | NX_INLINE void NxMat33::setRowMajor(const NxF32* d)
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372 | {
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373 | //we are also row major, so this is a direct copy
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374 | data.s._11 = (NxReal)d[0];
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375 | data.s._12 = (NxReal)d[1];
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376 | data.s._13 = (NxReal)d[2];
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377 |
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378 | data.s._21 = (NxReal)d[3];
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379 | data.s._22 = (NxReal)d[4];
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380 | data.s._23 = (NxReal)d[5];
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381 |
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382 | data.s._31 = (NxReal)d[6];
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383 | data.s._32 = (NxReal)d[7];
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384 | data.s._33 = (NxReal)d[8];
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385 | }
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386 |
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387 |
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388 | NX_INLINE void NxMat33::setColumnMajor(const NxF32* d)
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389 | {
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390 | //we are column major, so copy transposed.
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391 | data.s._11 = (NxReal)d[0];
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392 | data.s._12 = (NxReal)d[3];
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393 | data.s._13 = (NxReal)d[6];
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394 |
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395 | data.s._21 = (NxReal)d[1];
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396 | data.s._22 = (NxReal)d[4];
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397 | data.s._23 = (NxReal)d[7];
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398 |
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399 | data.s._31 = (NxReal)d[2];
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400 | data.s._32 = (NxReal)d[5];
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401 | data.s._33 = (NxReal)d[8];
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402 | }
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403 |
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404 |
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405 | NX_INLINE void NxMat33::getRowMajor(NxF32* d) const
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406 | {
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407 | //we are also row major, so this is a direct copy
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408 | d[0] = (NxF32)data.s._11;
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409 | d[1] = (NxF32)data.s._12;
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410 | d[2] = (NxF32)data.s._13;
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411 |
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412 | d[3] = (NxF32)data.s._21;
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413 | d[4] = (NxF32)data.s._22;
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414 | d[5] = (NxF32)data.s._23;
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415 |
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416 | d[6] = (NxF32)data.s._31;
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417 | d[7] = (NxF32)data.s._32;
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418 | d[8] = (NxF32)data.s._33;
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419 | }
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420 |
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421 |
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422 | NX_INLINE void NxMat33::getColumnMajor(NxF32* d) const
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423 | {
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424 | //we are column major, so copy transposed.
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425 | d[0] = (NxF32)data.s._11;
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426 | d[3] = (NxF32)data.s._12;
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427 | d[6] = (NxF32)data.s._13;
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428 |
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429 | d[1] = (NxF32)data.s._21;
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430 | d[4] = (NxF32)data.s._22;
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431 | d[7] = (NxF32)data.s._23;
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432 |
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433 | d[2] = (NxF32)data.s._31;
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434 | d[5] = (NxF32)data.s._32;
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435 | d[8] = (NxF32)data.s._33;
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436 | }
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437 |
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438 |
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439 | NX_INLINE void NxMat33::setRowMajorStride4(const NxF32* d)
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440 | {
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441 | //we are also row major, so this is a direct copy
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442 | //however we've got to skip every 4th element.
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443 | data.s._11 = (NxReal)d[0];
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444 | data.s._12 = (NxReal)d[1];
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445 | data.s._13 = (NxReal)d[2];
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446 |
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447 | data.s._21 = (NxReal)d[4];
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448 | data.s._22 = (NxReal)d[5];
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449 | data.s._23 = (NxReal)d[6];
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450 |
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451 | data.s._31 = (NxReal)d[8];
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452 | data.s._32 = (NxReal)d[9];
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453 | data.s._33 = (NxReal)d[10];
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454 | }
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455 |
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456 |
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457 | NX_INLINE void NxMat33::setColumnMajorStride4(const NxF32* d)
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458 | {
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459 | //we are column major, so copy transposed.
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460 | //however we've got to skip every 4th element.
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461 | data.s._11 = (NxReal)d[0];
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462 | data.s._12 = (NxReal)d[4];
|
---|
463 | data.s._13 = (NxReal)d[8];
|
---|
464 |
|
---|
465 | data.s._21 = (NxReal)d[1];
|
---|
466 | data.s._22 = (NxReal)d[5];
|
---|
467 | data.s._23 = (NxReal)d[9];
|
---|
468 |
|
---|
469 | data.s._31 = (NxReal)d[2];
|
---|
470 | data.s._32 = (NxReal)d[6];
|
---|
471 | data.s._33 = (NxReal)d[10];
|
---|
472 | }
|
---|
473 |
|
---|
474 |
|
---|
475 | NX_INLINE void NxMat33::getRowMajorStride4(NxF32* d) const
|
---|
476 | {
|
---|
477 | //we are also row major, so this is a direct copy
|
---|
478 | //however we've got to skip every 4th element.
|
---|
479 | d[0] = (NxF32)data.s._11;
|
---|
480 | d[1] = (NxF32)data.s._12;
|
---|
481 | d[2] = (NxF32)data.s._13;
|
---|
482 |
|
---|
483 | d[4] = (NxF32)data.s._21;
|
---|
484 | d[5] = (NxF32)data.s._22;
|
---|
485 | d[6] = (NxF32)data.s._23;
|
---|
486 |
|
---|
487 | d[8] = (NxF32)data.s._31;
|
---|
488 | d[9] = (NxF32)data.s._32;
|
---|
489 | d[10]= (NxF32)data.s._33;
|
---|
490 | }
|
---|
491 |
|
---|
492 |
|
---|
493 | NX_INLINE void NxMat33::getColumnMajorStride4(NxF32* d) const
|
---|
494 | {
|
---|
495 | //we are column major, so copy transposed.
|
---|
496 | //however we've got to skip every 4th element.
|
---|
497 | d[0] = (NxF32)data.s._11;
|
---|
498 | d[4] = (NxF32)data.s._12;
|
---|
499 | d[8] = (NxF32)data.s._13;
|
---|
500 |
|
---|
501 | d[1] = (NxF32)data.s._21;
|
---|
502 | d[5] = (NxF32)data.s._22;
|
---|
503 | d[9] = (NxF32)data.s._23;
|
---|
504 |
|
---|
505 | d[2] = (NxF32)data.s._31;
|
---|
506 | d[6] = (NxF32)data.s._32;
|
---|
507 | d[10]= (NxF32)data.s._33;
|
---|
508 | }
|
---|
509 |
|
---|
510 |
|
---|
511 | NX_INLINE void NxMat33::setRowMajor(const NxF64*d)
|
---|
512 | {
|
---|
513 | //we are also row major, so this is a direct copy
|
---|
514 | data.s._11 = (NxReal)d[0];
|
---|
515 | data.s._12 = (NxReal)d[1];
|
---|
516 | data.s._13 = (NxReal)d[2];
|
---|
517 |
|
---|
518 | data.s._21 = (NxReal)d[3];
|
---|
519 | data.s._22 = (NxReal)d[4];
|
---|
520 | data.s._23 = (NxReal)d[5];
|
---|
521 |
|
---|
522 | data.s._31 = (NxReal)d[6];
|
---|
523 | data.s._32 = (NxReal)d[7];
|
---|
524 | data.s._33 = (NxReal)d[8];
|
---|
525 | }
|
---|
526 |
|
---|
527 |
|
---|
528 | NX_INLINE void NxMat33::setColumnMajor(const NxF64*d)
|
---|
529 | {
|
---|
530 | //we are column major, so copy transposed.
|
---|
531 | data.s._11 = (NxReal)d[0];
|
---|
532 | data.s._12 = (NxReal)d[3];
|
---|
533 | data.s._13 = (NxReal)d[6];
|
---|
534 |
|
---|
535 | data.s._21 = (NxReal)d[1];
|
---|
536 | data.s._22 = (NxReal)d[4];
|
---|
537 | data.s._23 = (NxReal)d[7];
|
---|
538 |
|
---|
539 | data.s._31 = (NxReal)d[2];
|
---|
540 | data.s._32 = (NxReal)d[5];
|
---|
541 | data.s._33 = (NxReal)d[8];
|
---|
542 | }
|
---|
543 |
|
---|
544 |
|
---|
545 | NX_INLINE void NxMat33::getRowMajor(NxF64*d) const
|
---|
546 | {
|
---|
547 | //we are also row major, so this is a direct copy
|
---|
548 | d[0] = (NxF64)data.s._11;
|
---|
549 | d[1] = (NxF64)data.s._12;
|
---|
550 | d[2] = (NxF64)data.s._13;
|
---|
551 |
|
---|
552 | d[3] = (NxF64)data.s._21;
|
---|
553 | d[4] = (NxF64)data.s._22;
|
---|
554 | d[5] = (NxF64)data.s._23;
|
---|
555 |
|
---|
556 | d[6] = (NxF64)data.s._31;
|
---|
557 | d[7] = (NxF64)data.s._32;
|
---|
558 | d[8] = (NxF64)data.s._33;
|
---|
559 | }
|
---|
560 |
|
---|
561 |
|
---|
562 | NX_INLINE void NxMat33::getColumnMajor(NxF64*d) const
|
---|
563 | {
|
---|
564 | //we are column major, so copy transposed.
|
---|
565 | d[0] = (NxF64)data.s._11;
|
---|
566 | d[3] = (NxF64)data.s._12;
|
---|
567 | d[6] = (NxF64)data.s._13;
|
---|
568 |
|
---|
569 | d[1] = (NxF64)data.s._21;
|
---|
570 | d[4] = (NxF64)data.s._22;
|
---|
571 | d[7] = (NxF64)data.s._23;
|
---|
572 |
|
---|
573 | d[2] = (NxF64)data.s._31;
|
---|
574 | d[5] = (NxF64)data.s._32;
|
---|
575 | d[8] = (NxF64)data.s._33;
|
---|
576 | }
|
---|
577 |
|
---|
578 |
|
---|
579 | NX_INLINE void NxMat33::setRowMajorStride4(const NxF64*d)
|
---|
580 | {
|
---|
581 | //we are also row major, so this is a direct copy
|
---|
582 | //however we've got to skip every 4th element.
|
---|
583 | data.s._11 = (NxReal)d[0];
|
---|
584 | data.s._12 = (NxReal)d[1];
|
---|
585 | data.s._13 = (NxReal)d[2];
|
---|
586 |
|
---|
587 | data.s._21 = (NxReal)d[4];
|
---|
588 | data.s._22 = (NxReal)d[5];
|
---|
589 | data.s._23 = (NxReal)d[6];
|
---|
590 |
|
---|
591 | data.s._31 = (NxReal)d[8];
|
---|
592 | data.s._32 = (NxReal)d[9];
|
---|
593 | data.s._33 = (NxReal)d[10];
|
---|
594 | }
|
---|
595 |
|
---|
596 |
|
---|
597 | NX_INLINE void NxMat33::setColumnMajorStride4(const NxF64*d)
|
---|
598 | {
|
---|
599 | //we are column major, so copy transposed.
|
---|
600 | //however we've got to skip every 4th element.
|
---|
601 | data.s._11 = (NxReal)d[0];
|
---|
602 | data.s._12 = (NxReal)d[4];
|
---|
603 | data.s._13 = (NxReal)d[8];
|
---|
604 |
|
---|
605 | data.s._21 = (NxReal)d[1];
|
---|
606 | data.s._22 = (NxReal)d[5];
|
---|
607 | data.s._23 = (NxReal)d[9];
|
---|
608 |
|
---|
609 | data.s._31 = (NxReal)d[2];
|
---|
610 | data.s._32 = (NxReal)d[6];
|
---|
611 | data.s._33 = (NxReal)d[10];
|
---|
612 | }
|
---|
613 |
|
---|
614 |
|
---|
615 | NX_INLINE void NxMat33::getRowMajorStride4(NxF64*d) const
|
---|
616 | {
|
---|
617 | //we are also row major, so this is a direct copy
|
---|
618 | //however we've got to skip every 4th element.
|
---|
619 | d[0] = (NxF64)data.s._11;
|
---|
620 | d[1] = (NxF64)data.s._12;
|
---|
621 | d[2] = (NxF64)data.s._13;
|
---|
622 |
|
---|
623 | d[4] = (NxF64)data.s._21;
|
---|
624 | d[5] = (NxF64)data.s._22;
|
---|
625 | d[6] = (NxF64)data.s._23;
|
---|
626 |
|
---|
627 | d[8] = (NxF64)data.s._31;
|
---|
628 | d[9] = (NxF64)data.s._32;
|
---|
629 | d[10]= (NxF64)data.s._33;
|
---|
630 | }
|
---|
631 |
|
---|
632 |
|
---|
633 | NX_INLINE void NxMat33::getColumnMajorStride4(NxF64*d) const
|
---|
634 |
|
---|
635 | {
|
---|
636 | //we are column major, so copy transposed.
|
---|
637 | //however we've got to skip every 4th element.
|
---|
638 | d[0] = (NxF64)data.s._11;
|
---|
639 | d[4] = (NxF64)data.s._12;
|
---|
640 | d[8] = (NxF64)data.s._13;
|
---|
641 |
|
---|
642 | d[1] = (NxF64)data.s._21;
|
---|
643 | d[5] = (NxF64)data.s._22;
|
---|
644 | d[9] = (NxF64)data.s._23;
|
---|
645 |
|
---|
646 | d[2] = (NxF64)data.s._31;
|
---|
647 | d[6] = (NxF64)data.s._32;
|
---|
648 | d[10]= (NxF64)data.s._33;
|
---|
649 | }
|
---|
650 |
|
---|
651 |
|
---|
652 | NX_INLINE void NxMat33::setRow(int row, const NxVec3 & v)
|
---|
653 | {
|
---|
654 | #ifndef TRANSPOSED_MAT33
|
---|
655 | data.m[row][0] = v.x;
|
---|
656 | data.m[row][1] = v.y;
|
---|
657 | data.m[row][2] = v.z;
|
---|
658 | #else
|
---|
659 | data.m[0][row] = v.x;
|
---|
660 | data.m[1][row] = v.y;
|
---|
661 | data.m[2][row] = v.z;
|
---|
662 | #endif
|
---|
663 | }
|
---|
664 |
|
---|
665 |
|
---|
666 | NX_INLINE void NxMat33::setColumn(int col, const NxVec3 & v)
|
---|
667 | {
|
---|
668 | #ifndef TRANSPOSED_MAT33
|
---|
669 | data.m[0][col] = v.x;
|
---|
670 | data.m[1][col] = v.y;
|
---|
671 | data.m[2][col] = v.z;
|
---|
672 | #else
|
---|
673 | data.m[col][0] = v.x;
|
---|
674 | data.m[col][1] = v.y;
|
---|
675 | data.m[col][2] = v.z;
|
---|
676 | #endif
|
---|
677 | }
|
---|
678 |
|
---|
679 |
|
---|
680 | NX_INLINE void NxMat33::getRow(int row, NxVec3 & v) const
|
---|
681 | {
|
---|
682 | #ifndef TRANSPOSED_MAT33
|
---|
683 | v.x = data.m[row][0];
|
---|
684 | v.y = data.m[row][1];
|
---|
685 | v.z = data.m[row][2];
|
---|
686 | #else
|
---|
687 | v.x = data.m[0][row];
|
---|
688 | v.y = data.m[1][row];
|
---|
689 | v.z = data.m[2][row];
|
---|
690 | #endif
|
---|
691 | }
|
---|
692 |
|
---|
693 |
|
---|
694 | NX_INLINE void NxMat33::getColumn(int col, NxVec3 & v) const
|
---|
695 | {
|
---|
696 | #ifndef TRANSPOSED_MAT33
|
---|
697 | v.x = data.m[0][col];
|
---|
698 | v.y = data.m[1][col];
|
---|
699 | v.z = data.m[2][col];
|
---|
700 | #else
|
---|
701 | v.x = data.m[col][0];
|
---|
702 | v.y = data.m[col][1];
|
---|
703 | v.z = data.m[col][2];
|
---|
704 | #endif
|
---|
705 | }
|
---|
706 |
|
---|
707 |
|
---|
708 | NX_INLINE NxVec3 NxMat33::getRow(int row) const
|
---|
709 | {
|
---|
710 | #ifndef TRANSPOSED_MAT33
|
---|
711 | return NxVec3(data.m[row][0],data.m[row][1],data.m[row][2]);
|
---|
712 | #else
|
---|
713 | return NxVec3(data.m[0][row],data.m[1][row],data.m[2][row]);
|
---|
714 | #endif
|
---|
715 | }
|
---|
716 |
|
---|
717 | NX_INLINE NxVec3 NxMat33::getColumn(int col) const
|
---|
718 | {
|
---|
719 | #ifndef TRANSPOSED_MAT33
|
---|
720 | return NxVec3(data.m[0][col],data.m[1][col],data.m[2][col]);
|
---|
721 | #else
|
---|
722 | return NxVec3(data.m[col][0],data.m[col][1],data.m[col][2]);
|
---|
723 | #endif
|
---|
724 | }
|
---|
725 |
|
---|
726 | NX_INLINE NxReal & NxMat33::operator()(int row, int col)
|
---|
727 | {
|
---|
728 | #ifndef TRANSPOSED_MAT33
|
---|
729 | return data.m[row][col];
|
---|
730 | #else
|
---|
731 | return data.m[col][row];
|
---|
732 | #endif
|
---|
733 | }
|
---|
734 |
|
---|
735 |
|
---|
736 | NX_INLINE const NxReal & NxMat33::operator() (int row, int col) const
|
---|
737 | {
|
---|
738 | #ifndef TRANSPOSED_MAT33
|
---|
739 | return data.m[row][col];
|
---|
740 | #else
|
---|
741 | return data.m[col][row];
|
---|
742 | #endif
|
---|
743 | }
|
---|
744 |
|
---|
745 | //const methods
|
---|
746 |
|
---|
747 |
|
---|
748 | NX_INLINE bool NxMat33::isIdentity() const
|
---|
749 | {
|
---|
750 | if(NX_IR(data.s._11)!=NX_IEEE_1_0) return false;
|
---|
751 | if(NX_IR(data.s._12)) return false;
|
---|
752 | if(NX_IR(data.s._13)) return false;
|
---|
753 |
|
---|
754 | if(NX_IR(data.s._21)) return false;
|
---|
755 | if(NX_IR(data.s._22)!=NX_IEEE_1_0) return false;
|
---|
756 | if(NX_IR(data.s._23)) return false;
|
---|
757 |
|
---|
758 | if(NX_IR(data.s._31)) return false;
|
---|
759 | if(NX_IR(data.s._32)) return false;
|
---|
760 | if(NX_IR(data.s._33)!=NX_IEEE_1_0) return false;
|
---|
761 | return true;
|
---|
762 | }
|
---|
763 |
|
---|
764 |
|
---|
765 | NX_INLINE bool NxMat33::isZero() const
|
---|
766 | {
|
---|
767 | if(NX_IR(data.s._11)) return false;
|
---|
768 | if(NX_IR(data.s._12)) return false;
|
---|
769 | if(NX_IR(data.s._13)) return false;
|
---|
770 |
|
---|
771 | if(NX_IR(data.s._21)) return false;
|
---|
772 | if(NX_IR(data.s._22)) return false;
|
---|
773 | if(NX_IR(data.s._23)) return false;
|
---|
774 |
|
---|
775 | if(NX_IR(data.s._31)) return false;
|
---|
776 | if(NX_IR(data.s._32)) return false;
|
---|
777 | if(NX_IR(data.s._33)) return false;
|
---|
778 | return true;
|
---|
779 | }
|
---|
780 |
|
---|
781 |
|
---|
782 | NX_INLINE bool NxMat33::isFinite() const
|
---|
783 | {
|
---|
784 | return NxMath::isFinite(data.s._11)
|
---|
785 | && NxMath::isFinite(data.s._12)
|
---|
786 | && NxMath::isFinite(data.s._13)
|
---|
787 |
|
---|
788 | && NxMath::isFinite(data.s._21)
|
---|
789 | && NxMath::isFinite(data.s._22)
|
---|
790 | && NxMath::isFinite(data.s._23)
|
---|
791 |
|
---|
792 | && NxMath::isFinite(data.s._31)
|
---|
793 | && NxMath::isFinite(data.s._32)
|
---|
794 | && NxMath::isFinite(data.s._33);
|
---|
795 | }
|
---|
796 |
|
---|
797 |
|
---|
798 |
|
---|
799 | NX_INLINE void NxMat33::zero()
|
---|
800 | {
|
---|
801 | data.s._11 = NxReal(0.0);
|
---|
802 | data.s._12 = NxReal(0.0);
|
---|
803 | data.s._13 = NxReal(0.0);
|
---|
804 |
|
---|
805 | data.s._21 = NxReal(0.0);
|
---|
806 | data.s._22 = NxReal(0.0);
|
---|
807 | data.s._23 = NxReal(0.0);
|
---|
808 |
|
---|
809 | data.s._31 = NxReal(0.0);
|
---|
810 | data.s._32 = NxReal(0.0);
|
---|
811 | data.s._33 = NxReal(0.0);
|
---|
812 | }
|
---|
813 |
|
---|
814 |
|
---|
815 | NX_INLINE void NxMat33::id()
|
---|
816 | {
|
---|
817 | data.s._11 = NxReal(1.0);
|
---|
818 | data.s._12 = NxReal(0.0);
|
---|
819 | data.s._13 = NxReal(0.0);
|
---|
820 |
|
---|
821 | data.s._21 = NxReal(0.0);
|
---|
822 | data.s._22 = NxReal(1.0);
|
---|
823 | data.s._23 = NxReal(0.0);
|
---|
824 |
|
---|
825 | data.s._31 = NxReal(0.0);
|
---|
826 | data.s._32 = NxReal(0.0);
|
---|
827 | data.s._33 = NxReal(1.0);
|
---|
828 | }
|
---|
829 |
|
---|
830 |
|
---|
831 | NX_INLINE void NxMat33::setNegative()
|
---|
832 | {
|
---|
833 | data.s._11 = -data.s._11;
|
---|
834 | data.s._12 = -data.s._12;
|
---|
835 | data.s._13 = -data.s._13;
|
---|
836 |
|
---|
837 | data.s._21 = -data.s._21;
|
---|
838 | data.s._22 = -data.s._22;
|
---|
839 | data.s._23 = -data.s._23;
|
---|
840 |
|
---|
841 | data.s._31 = -data.s._31;
|
---|
842 | data.s._32 = -data.s._32;
|
---|
843 | data.s._33 = -data.s._33;
|
---|
844 | }
|
---|
845 |
|
---|
846 |
|
---|
847 | NX_INLINE void NxMat33::diagonal(const NxVec3 &v)
|
---|
848 | {
|
---|
849 | data.s._11 = v.x;
|
---|
850 | data.s._12 = NxReal(0.0);
|
---|
851 | data.s._13 = NxReal(0.0);
|
---|
852 |
|
---|
853 | data.s._21 = NxReal(0.0);
|
---|
854 | data.s._22 = v.y;
|
---|
855 | data.s._23 = NxReal(0.0);
|
---|
856 |
|
---|
857 | data.s._31 = NxReal(0.0);
|
---|
858 | data.s._32 = NxReal(0.0);
|
---|
859 | data.s._33 = v.z;
|
---|
860 | }
|
---|
861 |
|
---|
862 |
|
---|
863 | NX_INLINE void NxMat33::star(const NxVec3 &v)
|
---|
864 | {
|
---|
865 | data.s._11 = NxReal(0.0); data.s._12 =-v.z; data.s._13 = v.y;
|
---|
866 | data.s._21 = v.z; data.s._22 = NxReal(0.0); data.s._23 =-v.x;
|
---|
867 | data.s._31 =-v.y; data.s._32 = v.x; data.s._33 = NxReal(0.0);
|
---|
868 | }
|
---|
869 |
|
---|
870 |
|
---|
871 | NX_INLINE void NxMat33::fromQuat(const NxQuat & q)
|
---|
872 | {
|
---|
873 | const NxReal w = q.w;
|
---|
874 | const NxReal x = q.x;
|
---|
875 | const NxReal y = q.y;
|
---|
876 | const NxReal z = q.z;
|
---|
877 |
|
---|
878 | data.s._11 = NxReal(1.0) - y*y*NxReal(2.0) - z*z*NxReal(2.0);
|
---|
879 | data.s._12 = x*y*NxReal(2.0) - w*z*NxReal(2.0);
|
---|
880 | data.s._13 = x*z*NxReal(2.0) + w*y*NxReal(2.0);
|
---|
881 |
|
---|
882 | data.s._21 = x*y*NxReal(2.0) + w*z*NxReal(2.0);
|
---|
883 | data.s._22 = NxReal(1.0) - x*x*NxReal(2.0) - z*z*NxReal(2.0);
|
---|
884 | data.s._23 = y*z*NxReal(2.0) - w*x*NxReal(2.0);
|
---|
885 |
|
---|
886 | data.s._31 = x*z*NxReal(2.0) - w*y*NxReal(2.0);
|
---|
887 | data.s._32 = y*z*NxReal(2.0) + w*x*NxReal(2.0);
|
---|
888 | data.s._33 = NxReal(1.0) - x*x*NxReal(2.0) - y*y*NxReal(2.0);
|
---|
889 | }
|
---|
890 |
|
---|
891 |
|
---|
892 | NX_INLINE void NxMat33::toQuat(NxQuat & q) const // set the NxQuat from a rotation matrix
|
---|
893 | {
|
---|
894 | NxReal tr, s;
|
---|
895 | tr = data.s._11 + data.s._22 + data.s._33;
|
---|
896 | if(tr >= 0)
|
---|
897 | {
|
---|
898 | s = (NxReal)NxMath::sqrt(tr +1);
|
---|
899 | q.w = NxReal(0.5) * s;
|
---|
900 | s = NxReal(0.5) / s;
|
---|
901 | q.x = ((*this)(2,1) - (*this)(1,2)) * s;
|
---|
902 | q.y = ((*this)(0,2) - (*this)(2,0)) * s;
|
---|
903 | q.z = ((*this)(1,0) - (*this)(0,1)) * s;
|
---|
904 | }
|
---|
905 | else
|
---|
906 | {
|
---|
907 | int i = 0;
|
---|
908 | if (data.s._22 > data.s._11)
|
---|
909 | i = 1;
|
---|
910 | if(data.s._33 > (*this)(i,i))
|
---|
911 | i=2;
|
---|
912 | switch (i)
|
---|
913 | {
|
---|
914 | case 0:
|
---|
915 | s = (NxReal)NxMath::sqrt((data.s._11 - (data.s._22 + data.s._33)) + 1);
|
---|
916 | q.x = NxReal(0.5) * s;
|
---|
917 | s = NxReal(0.5) / s;
|
---|
918 | q.y = ((*this)(0,1) + (*this)(1,0)) * s;
|
---|
919 | q.z = ((*this)(2,0) + (*this)(0,2)) * s;
|
---|
920 | q.w = ((*this)(2,1) - (*this)(1,2)) * s;
|
---|
921 | break;
|
---|
922 | case 1:
|
---|
923 | s = (NxReal)NxMath::sqrt((data.s._22 - (data.s._33 + data.s._11)) + 1);
|
---|
924 | q.y = NxReal(0.5) * s;
|
---|
925 | s = NxReal(0.5) / s;
|
---|
926 | q.z = ((*this)(1,2) + (*this)(2,1)) * s;
|
---|
927 | q.x = ((*this)(0,1) + (*this)(1,0)) * s;
|
---|
928 | q.w = ((*this)(0,2) - (*this)(2,0)) * s;
|
---|
929 | break;
|
---|
930 | case 2:
|
---|
931 | s = (NxReal)NxMath::sqrt((data.s._33 - (data.s._11 + data.s._22)) + 1);
|
---|
932 | q.z = NxReal(0.5) * s;
|
---|
933 | s = NxReal(0.5) / s;
|
---|
934 | q.x = ((*this)(2,0) + (*this)(0,2)) * s;
|
---|
935 | q.y = ((*this)(1,2) + (*this)(2,1)) * s;
|
---|
936 | q.w = ((*this)(1,0) - (*this)(0,1)) * s;
|
---|
937 | }
|
---|
938 | }
|
---|
939 | }
|
---|
940 | /*
|
---|
941 |
|
---|
942 | NX_INLINE void NxMat33::orthonormalize() //Gram-Schmidt orthogonalization to correct numerical drift, plus column normalization
|
---|
943 | {
|
---|
944 | //TODO: This is buggy!
|
---|
945 | NxVec3 w,t1,t2,t3;
|
---|
946 | NxReal norm_sq;
|
---|
947 |
|
---|
948 | const NxReal m=3; //m := linalg[rowdim](A);
|
---|
949 | const NxReal n=3; //n := linalg[coldim](A);
|
---|
950 | int i, j, k = 0; //k := 0;
|
---|
951 |
|
---|
952 |
|
---|
953 | Mat33d v = *this; //v := linalg[col](A, 1 .. n); -- 3 column vectors indexable
|
---|
954 | NxVec3 norm_u_sq;
|
---|
955 | //# orthogonalize v[i]
|
---|
956 | for (i=0; i<n; i++)//for i to n do
|
---|
957 | {
|
---|
958 | v.getColumn(i,w); //i-th column
|
---|
959 | for (j=0; j<k; j++) //# pull w along projection of v[i] with u[j]
|
---|
960 | {
|
---|
961 | this->getColumn(j,t1);
|
---|
962 | this->getColumn(j,t2);
|
---|
963 | v.getColumn(i,t3);
|
---|
964 | NxVec3 temp = (t2 * (NxReal(1.0)/norm_u_sq[j]));
|
---|
965 | NxVec3 temp2 = temp * t3.dot( t1 );
|
---|
966 | w -= temp;
|
---|
967 | }
|
---|
968 | // # compute norm of orthogonalized v[i]
|
---|
969 | norm_sq = w.Dot(w);
|
---|
970 |
|
---|
971 | if (norm_sq != NxReal(0.0))
|
---|
972 | { // # linearly independent new orthogonal vector
|
---|
973 | // # add to list of u and norm_u_sq
|
---|
974 | this->SetColumn(i,w); //u = [op(u), evalm(w)];
|
---|
975 | norm_u_sq[i] = norm_sq; //norm_u_sq = [op(norm_u_sq), norm_sq];
|
---|
976 | k ++;
|
---|
977 | }
|
---|
978 | }
|
---|
979 |
|
---|
980 |
|
---|
981 | NxVec3 temp; //may want to do this in-place -- dunno if optimizer does this for me
|
---|
982 | for (i=0; i<3; i++)
|
---|
983 | {
|
---|
984 | getColumn(i,temp);
|
---|
985 | temp.normalize();
|
---|
986 | setColumn(i,temp);
|
---|
987 | }
|
---|
988 | }
|
---|
989 | */
|
---|
990 |
|
---|
991 |
|
---|
992 | NX_INLINE void NxMat33::setTransposed(const NxMat33& other)
|
---|
993 | {
|
---|
994 | //gotta special case in-place case
|
---|
995 | if (this != &other)
|
---|
996 | {
|
---|
997 | data.s._11 = other.data.s._11;
|
---|
998 | data.s._12 = other.data.s._21;
|
---|
999 | data.s._13 = other.data.s._31;
|
---|
1000 |
|
---|
1001 | data.s._21 = other.data.s._12;
|
---|
1002 | data.s._22 = other.data.s._22;
|
---|
1003 | data.s._23 = other.data.s._32;
|
---|
1004 |
|
---|
1005 | data.s._31 = other.data.s._13;
|
---|
1006 | data.s._32 = other.data.s._23;
|
---|
1007 | data.s._33 = other.data.s._33;
|
---|
1008 | }
|
---|
1009 | else
|
---|
1010 | {
|
---|
1011 | NxReal tx, ty, tz;
|
---|
1012 | tx = data.s._21; data.s._21 = other.data.s._12; data.s._12 = tx;
|
---|
1013 | ty = data.s._31; data.s._31 = other.data.s._13; data.s._13 = ty;
|
---|
1014 | tz = data.s._32; data.s._32 = other.data.s._23; data.s._23 = tz;
|
---|
1015 | }
|
---|
1016 | }
|
---|
1017 |
|
---|
1018 |
|
---|
1019 | NX_INLINE void NxMat33::setTransposed()
|
---|
1020 | {
|
---|
1021 | NX_Swap(data.s._12, data.s._21);
|
---|
1022 | NX_Swap(data.s._23, data.s._32);
|
---|
1023 | NX_Swap(data.s._13, data.s._31);
|
---|
1024 | }
|
---|
1025 |
|
---|
1026 |
|
---|
1027 | NX_INLINE void NxMat33::multiplyDiagonal(const NxVec3 &d)
|
---|
1028 | {
|
---|
1029 | data.s._11 *= d.x;
|
---|
1030 | data.s._12 *= d.y;
|
---|
1031 | data.s._13 *= d.z;
|
---|
1032 |
|
---|
1033 | data.s._21 *= d.x;
|
---|
1034 | data.s._22 *= d.y;
|
---|
1035 | data.s._23 *= d.z;
|
---|
1036 |
|
---|
1037 | data.s._31 *= d.x;
|
---|
1038 | data.s._32 *= d.y;
|
---|
1039 | data.s._33 *= d.z;
|
---|
1040 | }
|
---|
1041 |
|
---|
1042 |
|
---|
1043 | NX_INLINE void NxMat33::multiplyDiagonalTranspose(const NxVec3 &d)
|
---|
1044 | {
|
---|
1045 | data.s._11 *= d.x;
|
---|
1046 | data.s._12 *= d.x;
|
---|
1047 | data.s._13 *= d.x;
|
---|
1048 |
|
---|
1049 | data.s._21 *= d.y;
|
---|
1050 | data.s._22 *= d.y;
|
---|
1051 | data.s._23 *= d.y;
|
---|
1052 |
|
---|
1053 | data.s._31 *= d.z;
|
---|
1054 | data.s._32 *= d.z;
|
---|
1055 | data.s._33 *= d.z;
|
---|
1056 | }
|
---|
1057 |
|
---|
1058 |
|
---|
1059 | NX_INLINE void NxMat33::multiplyDiagonal(const NxVec3 &d, NxMat33& dst) const
|
---|
1060 | {
|
---|
1061 | dst.data.s._11 = data.s._11 * d.x;
|
---|
1062 | dst.data.s._12 = data.s._12 * d.y;
|
---|
1063 | dst.data.s._13 = data.s._13 * d.z;
|
---|
1064 |
|
---|
1065 | dst.data.s._21 = data.s._21 * d.x;
|
---|
1066 | dst.data.s._22 = data.s._22 * d.y;
|
---|
1067 | dst.data.s._23 = data.s._23 * d.z;
|
---|
1068 |
|
---|
1069 | dst.data.s._31 = data.s._31 * d.x;
|
---|
1070 | dst.data.s._32 = data.s._32 * d.y;
|
---|
1071 | dst.data.s._33 = data.s._33 * d.z;
|
---|
1072 | }
|
---|
1073 |
|
---|
1074 |
|
---|
1075 | NX_INLINE void NxMat33::multiplyDiagonalTranspose(const NxVec3 &d, NxMat33& dst) const
|
---|
1076 | {
|
---|
1077 | dst.data.s._11 = data.s._11 * d.x;
|
---|
1078 | dst.data.s._12 = data.s._21 * d.y;
|
---|
1079 | dst.data.s._13 = data.s._31 * d.z;
|
---|
1080 |
|
---|
1081 | dst.data.s._21 = data.s._12 * d.x;
|
---|
1082 | dst.data.s._22 = data.s._22 * d.y;
|
---|
1083 | dst.data.s._23 = data.s._32 * d.z;
|
---|
1084 |
|
---|
1085 | dst.data.s._31 = data.s._13 * d.x;
|
---|
1086 | dst.data.s._32 = data.s._23 * d.y;
|
---|
1087 | dst.data.s._33 = data.s._33 * d.z;
|
---|
1088 | }
|
---|
1089 |
|
---|
1090 |
|
---|
1091 | NX_INLINE void NxMat33::multiply(const NxVec3 &src, NxVec3 &dst) const
|
---|
1092 | {
|
---|
1093 | NxReal x,y,z; //so it works if src == dst
|
---|
1094 | x = data.s._11 * src.x + data.s._12 * src.y + data.s._13 * src.z;
|
---|
1095 | y = data.s._21 * src.x + data.s._22 * src.y + data.s._23 * src.z;
|
---|
1096 | z = data.s._31 * src.x + data.s._32 * src.y + data.s._33 * src.z;
|
---|
1097 |
|
---|
1098 | dst.x = x;
|
---|
1099 | dst.y = y;
|
---|
1100 | dst.z = z;
|
---|
1101 | }
|
---|
1102 |
|
---|
1103 |
|
---|
1104 | NX_INLINE void NxMat33::multiplyByTranspose(const NxVec3 &src, NxVec3 &dst) const
|
---|
1105 | {
|
---|
1106 | NxReal x,y,z; //so it works if src == dst
|
---|
1107 | x = data.s._11 * src.x + data.s._21 * src.y + data.s._31 * src.z;
|
---|
1108 | y = data.s._12 * src.x + data.s._22 * src.y + data.s._32 * src.z;
|
---|
1109 | z = data.s._13 * src.x + data.s._23 * src.y + data.s._33 * src.z;
|
---|
1110 |
|
---|
1111 | dst.x = x;
|
---|
1112 | dst.y = y;
|
---|
1113 | dst.z = z;
|
---|
1114 | }
|
---|
1115 |
|
---|
1116 |
|
---|
1117 | NX_INLINE void NxMat33::add(const NxMat33 & a, const NxMat33 & b)
|
---|
1118 | {
|
---|
1119 | data.s._11 = a.data.s._11 + b.data.s._11;
|
---|
1120 | data.s._12 = a.data.s._12 + b.data.s._12;
|
---|
1121 | data.s._13 = a.data.s._13 + b.data.s._13;
|
---|
1122 |
|
---|
1123 | data.s._21 = a.data.s._21 + b.data.s._21;
|
---|
1124 | data.s._22 = a.data.s._22 + b.data.s._22;
|
---|
1125 | data.s._23 = a.data.s._23 + b.data.s._23;
|
---|
1126 |
|
---|
1127 | data.s._31 = a.data.s._31 + b.data.s._31;
|
---|
1128 | data.s._32 = a.data.s._32 + b.data.s._32;
|
---|
1129 | data.s._33 = a.data.s._33 + b.data.s._33;
|
---|
1130 | }
|
---|
1131 |
|
---|
1132 |
|
---|
1133 | NX_INLINE void NxMat33::subtract(const NxMat33 &a, const NxMat33 &b)
|
---|
1134 | {
|
---|
1135 | data.s._11 = a.data.s._11 - b.data.s._11;
|
---|
1136 | data.s._12 = a.data.s._12 - b.data.s._12;
|
---|
1137 | data.s._13 = a.data.s._13 - b.data.s._13;
|
---|
1138 |
|
---|
1139 | data.s._21 = a.data.s._21 - b.data.s._21;
|
---|
1140 | data.s._22 = a.data.s._22 - b.data.s._22;
|
---|
1141 | data.s._23 = a.data.s._23 - b.data.s._23;
|
---|
1142 |
|
---|
1143 | data.s._31 = a.data.s._31 - b.data.s._31;
|
---|
1144 | data.s._32 = a.data.s._32 - b.data.s._32;
|
---|
1145 | data.s._33 = a.data.s._33 - b.data.s._33;
|
---|
1146 | }
|
---|
1147 |
|
---|
1148 |
|
---|
1149 | NX_INLINE void NxMat33::multiply(NxReal d, const NxMat33 & a)
|
---|
1150 | {
|
---|
1151 | data.s._11 = a.data.s._11 * d;
|
---|
1152 | data.s._12 = a.data.s._12 * d;
|
---|
1153 | data.s._13 = a.data.s._13 * d;
|
---|
1154 |
|
---|
1155 | data.s._21 = a.data.s._21 * d;
|
---|
1156 | data.s._22 = a.data.s._22 * d;
|
---|
1157 | data.s._23 = a.data.s._23 * d;
|
---|
1158 |
|
---|
1159 | data.s._31 = a.data.s._31 * d;
|
---|
1160 | data.s._32 = a.data.s._32 * d;
|
---|
1161 | data.s._33 = a.data.s._33 * d;
|
---|
1162 | }
|
---|
1163 |
|
---|
1164 |
|
---|
1165 | NX_INLINE void NxMat33::multiply(const NxMat33& left, const NxMat33& right)
|
---|
1166 | {
|
---|
1167 | NxReal a,b,c, d,e,f, g,h,i;
|
---|
1168 | //note: temps needed so that x.multiply(x,y) works OK.
|
---|
1169 | a =left.data.s._11 * right.data.s._11 +left.data.s._12 * right.data.s._21 +left.data.s._13 * right.data.s._31;
|
---|
1170 | b =left.data.s._11 * right.data.s._12 +left.data.s._12 * right.data.s._22 +left.data.s._13 * right.data.s._32;
|
---|
1171 | c =left.data.s._11 * right.data.s._13 +left.data.s._12 * right.data.s._23 +left.data.s._13 * right.data.s._33;
|
---|
1172 |
|
---|
1173 | d =left.data.s._21 * right.data.s._11 +left.data.s._22 * right.data.s._21 +left.data.s._23 * right.data.s._31;
|
---|
1174 | e =left.data.s._21 * right.data.s._12 +left.data.s._22 * right.data.s._22 +left.data.s._23 * right.data.s._32;
|
---|
1175 | f =left.data.s._21 * right.data.s._13 +left.data.s._22 * right.data.s._23 +left.data.s._23 * right.data.s._33;
|
---|
1176 |
|
---|
1177 | g =left.data.s._31 * right.data.s._11 +left.data.s._32 * right.data.s._21 +left.data.s._33 * right.data.s._31;
|
---|
1178 | h =left.data.s._31 * right.data.s._12 +left.data.s._32 * right.data.s._22 +left.data.s._33 * right.data.s._32;
|
---|
1179 | i =left.data.s._31 * right.data.s._13 +left.data.s._32 * right.data.s._23 +left.data.s._33 * right.data.s._33;
|
---|
1180 |
|
---|
1181 |
|
---|
1182 | data.s._11 = a;
|
---|
1183 | data.s._12 = b;
|
---|
1184 | data.s._13 = c;
|
---|
1185 |
|
---|
1186 | data.s._21 = d;
|
---|
1187 | data.s._22 = e;
|
---|
1188 | data.s._23 = f;
|
---|
1189 |
|
---|
1190 | data.s._31 = g;
|
---|
1191 | data.s._32 = h;
|
---|
1192 | data.s._33 = i;
|
---|
1193 | }
|
---|
1194 |
|
---|
1195 |
|
---|
1196 | NX_INLINE void NxMat33::multiplyTransposeLeft(const NxMat33& left, const NxMat33& right)
|
---|
1197 | {
|
---|
1198 | NxReal a,b,c, d,e,f, g,h,i;
|
---|
1199 | //note: temps needed so that x.multiply(x,y) works OK.
|
---|
1200 | a =left.data.s._11 * right.data.s._11 +left.data.s._21 * right.data.s._21 +left.data.s._31 * right.data.s._31;
|
---|
1201 | b =left.data.s._11 * right.data.s._12 +left.data.s._21 * right.data.s._22 +left.data.s._31 * right.data.s._32;
|
---|
1202 | c =left.data.s._11 * right.data.s._13 +left.data.s._21 * right.data.s._23 +left.data.s._31 * right.data.s._33;
|
---|
1203 |
|
---|
1204 | d =left.data.s._12 * right.data.s._11 +left.data.s._22 * right.data.s._21 +left.data.s._32 * right.data.s._31;
|
---|
1205 | e =left.data.s._12 * right.data.s._12 +left.data.s._22 * right.data.s._22 +left.data.s._32 * right.data.s._32;
|
---|
1206 | f =left.data.s._12 * right.data.s._13 +left.data.s._22 * right.data.s._23 +left.data.s._32 * right.data.s._33;
|
---|
1207 |
|
---|
1208 | g =left.data.s._13 * right.data.s._11 +left.data.s._23 * right.data.s._21 +left.data.s._33 * right.data.s._31;
|
---|
1209 | h =left.data.s._13 * right.data.s._12 +left.data.s._23 * right.data.s._22 +left.data.s._33 * right.data.s._32;
|
---|
1210 | i =left.data.s._13 * right.data.s._13 +left.data.s._23 * right.data.s._23 +left.data.s._33 * right.data.s._33;
|
---|
1211 |
|
---|
1212 | data.s._11 = a;
|
---|
1213 | data.s._12 = b;
|
---|
1214 | data.s._13 = c;
|
---|
1215 |
|
---|
1216 | data.s._21 = d;
|
---|
1217 | data.s._22 = e;
|
---|
1218 | data.s._23 = f;
|
---|
1219 |
|
---|
1220 | data.s._31 = g;
|
---|
1221 | data.s._32 = h;
|
---|
1222 | data.s._33 = i;
|
---|
1223 | }
|
---|
1224 |
|
---|
1225 |
|
---|
1226 | NX_INLINE void NxMat33::multiplyTransposeRight(const NxMat33& left, const NxMat33& right)
|
---|
1227 | {
|
---|
1228 | NxReal a,b,c, d,e,f, g,h,i;
|
---|
1229 | //note: temps needed so that x.multiply(x,y) works OK.
|
---|
1230 | a =left.data.s._11 * right.data.s._11 +left.data.s._12 * right.data.s._12 +left.data.s._13 * right.data.s._13;
|
---|
1231 | b =left.data.s._11 * right.data.s._21 +left.data.s._12 * right.data.s._22 +left.data.s._13 * right.data.s._23;
|
---|
1232 | c =left.data.s._11 * right.data.s._31 +left.data.s._12 * right.data.s._32 +left.data.s._13 * right.data.s._33;
|
---|
1233 |
|
---|
1234 | d =left.data.s._21 * right.data.s._11 +left.data.s._22 * right.data.s._12 +left.data.s._23 * right.data.s._13;
|
---|
1235 | e =left.data.s._21 * right.data.s._21 +left.data.s._22 * right.data.s._22 +left.data.s._23 * right.data.s._23;
|
---|
1236 | f =left.data.s._21 * right.data.s._31 +left.data.s._22 * right.data.s._32 +left.data.s._23 * right.data.s._33;
|
---|
1237 |
|
---|
1238 | g =left.data.s._31 * right.data.s._11 +left.data.s._32 * right.data.s._12 +left.data.s._33 * right.data.s._13;
|
---|
1239 | h =left.data.s._31 * right.data.s._21 +left.data.s._32 * right.data.s._22 +left.data.s._33 * right.data.s._23;
|
---|
1240 | i =left.data.s._31 * right.data.s._31 +left.data.s._32 * right.data.s._32 +left.data.s._33 * right.data.s._33;
|
---|
1241 |
|
---|
1242 | data.s._11 = a;
|
---|
1243 | data.s._12 = b;
|
---|
1244 | data.s._13 = c;
|
---|
1245 |
|
---|
1246 | data.s._21 = d;
|
---|
1247 | data.s._22 = e;
|
---|
1248 | data.s._23 = f;
|
---|
1249 |
|
---|
1250 | data.s._31 = g;
|
---|
1251 | data.s._32 = h;
|
---|
1252 | data.s._33 = i;
|
---|
1253 | }
|
---|
1254 |
|
---|
1255 |
|
---|
1256 | NX_INLINE void NxMat33::multiplyTransposeRight(const NxVec3 &left, const NxVec3 &right)
|
---|
1257 | {
|
---|
1258 | data.s._11 = left.x * right.x;
|
---|
1259 | data.s._12 = left.x * right.y;
|
---|
1260 | data.s._13 = left.x * right.z;
|
---|
1261 |
|
---|
1262 | data.s._21 = left.y * right.x;
|
---|
1263 | data.s._22 = left.y * right.y;
|
---|
1264 | data.s._23 = left.y * right.z;
|
---|
1265 |
|
---|
1266 | data.s._31 = left.z * right.x;
|
---|
1267 | data.s._32 = left.z * right.y;
|
---|
1268 | data.s._33 = left.z * right.z;
|
---|
1269 | }
|
---|
1270 |
|
---|
1271 | NX_INLINE void NxMat33::rotX(NxReal angle)
|
---|
1272 | {
|
---|
1273 | NxReal Cos = cosf(angle);
|
---|
1274 | NxReal Sin = sinf(angle);
|
---|
1275 | id();
|
---|
1276 | data.m[1][1] = data.m[2][2] = Cos;
|
---|
1277 | data.m[1][2] = -Sin;
|
---|
1278 | data.m[2][1] = Sin;
|
---|
1279 | }
|
---|
1280 |
|
---|
1281 | NX_INLINE void NxMat33::rotY(NxReal angle)
|
---|
1282 | {
|
---|
1283 | NxReal Cos = cosf(angle);
|
---|
1284 | NxReal Sin = sinf(angle);
|
---|
1285 | id();
|
---|
1286 | data.m[0][0] = data.m[2][2] = Cos;
|
---|
1287 | data.m[0][2] = Sin;
|
---|
1288 | data.m[2][0] = -Sin;
|
---|
1289 | }
|
---|
1290 |
|
---|
1291 | NX_INLINE void NxMat33::rotZ(NxReal angle)
|
---|
1292 | {
|
---|
1293 | NxReal Cos = cosf(angle);
|
---|
1294 | NxReal Sin = sinf(angle);
|
---|
1295 | id();
|
---|
1296 | data.m[0][0] = data.m[1][1] = Cos;
|
---|
1297 | data.m[0][1] = -Sin;
|
---|
1298 | data.m[1][0] = Sin;
|
---|
1299 | }
|
---|
1300 |
|
---|
1301 | NX_INLINE NxVec3 NxMat33::operator%(const NxVec3 & src) const
|
---|
1302 | {
|
---|
1303 | NxVec3 dest;
|
---|
1304 | this->multiplyByTranspose(src, dest);
|
---|
1305 | return dest;
|
---|
1306 | }
|
---|
1307 |
|
---|
1308 |
|
---|
1309 | NX_INLINE NxVec3 NxMat33::operator*(const NxVec3 & src) const
|
---|
1310 | {
|
---|
1311 | NxVec3 dest;
|
---|
1312 | this->multiply(src, dest);
|
---|
1313 | return dest;
|
---|
1314 | }
|
---|
1315 |
|
---|
1316 |
|
---|
1317 | NX_INLINE const NxMat33 &NxMat33::operator +=(const NxMat33 &d)
|
---|
1318 | {
|
---|
1319 | data.s._11 += d.data.s._11;
|
---|
1320 | data.s._12 += d.data.s._12;
|
---|
1321 | data.s._13 += d.data.s._13;
|
---|
1322 |
|
---|
1323 | data.s._21 += d.data.s._21;
|
---|
1324 | data.s._22 += d.data.s._22;
|
---|
1325 | data.s._23 += d.data.s._23;
|
---|
1326 |
|
---|
1327 | data.s._31 += d.data.s._31;
|
---|
1328 | data.s._32 += d.data.s._32;
|
---|
1329 | data.s._33 += d.data.s._33;
|
---|
1330 | return *this;
|
---|
1331 | }
|
---|
1332 |
|
---|
1333 |
|
---|
1334 | NX_INLINE const NxMat33 &NxMat33::operator -=(const NxMat33 &d)
|
---|
1335 | {
|
---|
1336 | data.s._11 -= d.data.s._11;
|
---|
1337 | data.s._12 -= d.data.s._12;
|
---|
1338 | data.s._13 -= d.data.s._13;
|
---|
1339 |
|
---|
1340 | data.s._21 -= d.data.s._21;
|
---|
1341 | data.s._22 -= d.data.s._22;
|
---|
1342 | data.s._23 -= d.data.s._23;
|
---|
1343 |
|
---|
1344 | data.s._31 -= d.data.s._31;
|
---|
1345 | data.s._32 -= d.data.s._32;
|
---|
1346 | data.s._33 -= d.data.s._33;
|
---|
1347 | return *this;
|
---|
1348 | }
|
---|
1349 |
|
---|
1350 |
|
---|
1351 | NX_INLINE const NxMat33 &NxMat33::operator *=(NxReal f)
|
---|
1352 | {
|
---|
1353 | data.s._11 *= f;
|
---|
1354 | data.s._12 *= f;
|
---|
1355 | data.s._13 *= f;
|
---|
1356 |
|
---|
1357 | data.s._21 *= f;
|
---|
1358 | data.s._22 *= f;
|
---|
1359 | data.s._23 *= f;
|
---|
1360 |
|
---|
1361 | data.s._31 *= f;
|
---|
1362 | data.s._32 *= f;
|
---|
1363 | data.s._33 *= f;
|
---|
1364 | return *this;
|
---|
1365 | }
|
---|
1366 |
|
---|
1367 |
|
---|
1368 | NX_INLINE const NxMat33 &NxMat33::operator /=(NxReal x)
|
---|
1369 | {
|
---|
1370 | NxReal f = NxReal(1.0) / x;
|
---|
1371 | data.s._11 *= f;
|
---|
1372 | data.s._12 *= f;
|
---|
1373 | data.s._13 *= f;
|
---|
1374 |
|
---|
1375 | data.s._21 *= f;
|
---|
1376 | data.s._22 *= f;
|
---|
1377 | data.s._23 *= f;
|
---|
1378 |
|
---|
1379 | data.s._31 *= f;
|
---|
1380 | data.s._32 *= f;
|
---|
1381 | data.s._33 *= f;
|
---|
1382 | return *this;
|
---|
1383 | }
|
---|
1384 |
|
---|
1385 |
|
---|
1386 | NX_INLINE NxReal NxMat33::determinant() const
|
---|
1387 | {
|
---|
1388 | return data.s._11*data.s._22*data.s._33 + data.s._12*data.s._23*data.s._31 + data.s._13*data.s._21*data.s._32
|
---|
1389 | - data.s._13*data.s._22*data.s._31 - data.s._12*data.s._21*data.s._33 - data.s._11*data.s._23*data.s._32;
|
---|
1390 | }
|
---|
1391 |
|
---|
1392 |
|
---|
1393 | bool NxMat33::getInverse(NxMat33& dest) const
|
---|
1394 | {
|
---|
1395 | NxReal b00,b01,b02,b10,b11,b12,b20,b21,b22;
|
---|
1396 |
|
---|
1397 | b00 = data.s._22*data.s._33-data.s._23*data.s._32; b01 = data.s._13*data.s._32-data.s._12*data.s._33; b02 = data.s._12*data.s._23-data.s._13*data.s._22;
|
---|
1398 | b10 = data.s._23*data.s._31-data.s._21*data.s._33; b11 = data.s._11*data.s._33-data.s._13*data.s._31; b12 = data.s._13*data.s._21-data.s._11*data.s._23;
|
---|
1399 | b20 = data.s._21*data.s._32-data.s._22*data.s._31; b21 = data.s._12*data.s._31-data.s._11*data.s._32; b22 = data.s._11*data.s._22-data.s._12*data.s._21;
|
---|
1400 |
|
---|
1401 |
|
---|
1402 |
|
---|
1403 | /*
|
---|
1404 | compute determinant:
|
---|
1405 | NxReal d = a00*a11*a22 + a01*a12*a20 + a02*a10*a21 - a02*a11*a20 - a01*a10*a22 - a00*a12*a21;
|
---|
1406 | 0 1 2 3 4 5
|
---|
1407 |
|
---|
1408 | this is a subset of the multiplies done above:
|
---|
1409 |
|
---|
1410 | NxReal d = b00*a00 + b01*a10 + b02 * a20;
|
---|
1411 | NxReal d = (a11*a22-a12*a21)*a00 + (a02*a21-a01*a22)*a10 + (a01*a12-a02*a11) * a20;
|
---|
1412 |
|
---|
1413 | NxReal d = a11*a22*a00-a12*a21*a00 + a02*a21*a10-a01*a22*a10 + a01*a12*a20-a02*a11*a20;
|
---|
1414 | 0 5 2 4 1 3
|
---|
1415 | */
|
---|
1416 |
|
---|
1417 | NxReal d = b00*data.s._11 + b01*data.s._21 + b02 * data.s._31;
|
---|
1418 |
|
---|
1419 | if (d == NxReal(0.0)) //singular?
|
---|
1420 | {
|
---|
1421 | dest.id();
|
---|
1422 | return false;
|
---|
1423 | }
|
---|
1424 |
|
---|
1425 | d = NxReal(1.0)/d;
|
---|
1426 |
|
---|
1427 | //only do assignment at the end, in case dest == this:
|
---|
1428 |
|
---|
1429 |
|
---|
1430 | dest.data.s._11 = b00*d; dest.data.s._12 = b01*d; dest.data.s._13 = b02*d;
|
---|
1431 | dest.data.s._21 = b10*d; dest.data.s._22 = b11*d; dest.data.s._23 = b12*d;
|
---|
1432 | dest.data.s._31 = b20*d; dest.data.s._32 = b21*d; dest.data.s._33 = b22*d;
|
---|
1433 |
|
---|
1434 | return true;
|
---|
1435 | }
|
---|
1436 |
|
---|
1437 |
|
---|
1438 | NX_INLINE NxMat33& NxMat33::operator*= (const NxMat33& mat)
|
---|
1439 | {
|
---|
1440 | this->multiply(*this, mat);
|
---|
1441 | return *this;
|
---|
1442 | }
|
---|
1443 |
|
---|
1444 |
|
---|
1445 | NX_INLINE NxMat33 NxMat33::operator- (const NxMat33& mat) const
|
---|
1446 | {
|
---|
1447 | NxMat33 temp;
|
---|
1448 | temp.subtract(*this, mat);
|
---|
1449 | return temp;
|
---|
1450 | }
|
---|
1451 |
|
---|
1452 |
|
---|
1453 | NX_INLINE NxMat33 NxMat33::operator+ (const NxMat33& mat) const
|
---|
1454 | {
|
---|
1455 | NxMat33 temp;
|
---|
1456 | temp.add(*this, mat);
|
---|
1457 | return temp;
|
---|
1458 | }
|
---|
1459 |
|
---|
1460 |
|
---|
1461 | NX_INLINE NxMat33 NxMat33::operator* (const NxMat33& mat) const
|
---|
1462 | {
|
---|
1463 | NxMat33 temp;
|
---|
1464 | temp.multiply(*this, mat);
|
---|
1465 | return temp;
|
---|
1466 | }
|
---|
1467 |
|
---|
1468 |
|
---|
1469 | NX_INLINE NxMat33 NxMat33::operator* (float s) const
|
---|
1470 | {
|
---|
1471 | NxMat33 temp;
|
---|
1472 | temp.multiply(s, *this);
|
---|
1473 | return temp;
|
---|
1474 | }
|
---|
1475 |
|
---|
1476 | NX_INLINE NxQuat::NxQuat(const class NxMat33 &m)
|
---|
1477 | {
|
---|
1478 | m.toQuat(*this);
|
---|
1479 | }
|
---|
1480 |
|
---|
1481 | /** @} */
|
---|
1482 | #endif
|
---|
1483 |
|
---|
1484 |
|
---|
1485 | //AGCOPYRIGHTBEGIN
|
---|
1486 | ///////////////////////////////////////////////////////////////////////////
|
---|
1487 | // Copyright © 2005 AGEIA Technologies.
|
---|
1488 | // All rights reserved. www.ageia.com
|
---|
1489 | ///////////////////////////////////////////////////////////////////////////
|
---|
1490 | //AGCOPYRIGHTEND
|
---|
1491 |
|
---|