VR-Forces 4.0.4 Class Documentation: include/geometry/matrix4x4.h Source File

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00001 /*********************************************************************
00002 ** Copyright (c) 1999 MaK Technologies, Inc.
00003 ** All rights reserved.
00004 *********************************************************************/
00005 #ifndef matrix4x4_H_
00006 #define matrix4x4_H_
00007 
00008 //forward declarations
00009 class Dt4dPoint;
00010 class DtPoint;
00011 class DtChord;
00012 class DtVector;
00013 class DtExtent;
00014 
00015 #include "geometry/geometryDefines.h"
00016 #include "stdio.h"
00017 
00018 typedef unsigned DtMatrix4x4Sub;
00019 
00020 //
00021 //
00022 // class DtHomogeneousTransfMatrix
00023 //
00024 //
00025 class DT_DLL_geometry DtHomogeneousTransfMatrix
00026 {
00027   public:
00028    DtHomogeneousTransfMatrix();
00029 
00030    // Initializations. 
00031    void initToIdentityTransformation();
00032    void initTranslation(const DtPoint& wc);
00033    void initScale(double sx, double sy, double sz);
00034    void initShear(double shx, double shy);
00035    void initRotAboutX(double theta);
00036    void initRotAboutY(double theta);
00037    void initRotAboutZ(double theta);
00038    void initPerspective(double distanceToProjectionPlane);
00039    void initPerspectiveToParallel(double zmin);
00040 
00041    void setTranslation(const DtPoint& wc);
00042    void setScale(double sx, double sy, double sz);
00043    void setShear(double shx, double shy);
00044    void setRotAboutX(double theta);
00045    void setRotAboutY(double theta);
00046    void setRotAboutZ(double theta);
00047    void setPerspective(double distanceToProjectionPlane);
00048    void setPerspectiveToParallel(double zmin);
00049 
00050    void setRow(int col, double sx, double sy, double sz, double sa);
00051    void setColumn(int col, double sx, double sy, double sz, double sa);
00052 
00053    // Matrix operations. 
00054    void transpose();
00055    void transposeInto(DtHomogeneousTransfMatrix& out) const;
00056    void invert();
00057    void invertInto(DtHomogeneousTransfMatrix& out) const;
00058    void concatenate(const DtHomogeneousTransfMatrix& m1, 
00059                      const DtHomogeneousTransfMatrix& m2); 
00060    // Safe to use on itself 
00061 
00062    // Transformation operations. 
00063    void transformPoint(DtPoint& out, const DtPoint& in) const;
00064    void transformPoint(DtPoint& inout) const;
00065    void transformVector(DtVector& out, const DtVector& in) const;
00066    void transformVector(DtVector& inout) const;
00067    void transformChord(DtChord& out, const DtChord& in) const;
00068    void transformChord(DtChord& inout) const;
00069    void transformExtent(DtExtent& inout) const;
00070 
00071    // returns true if the matrix is identity
00072    bool isIdentity() const;
00073 
00074    // I/O. 
00075    bool readFrom(FILE* fp);
00076    bool writeTo(FILE* fp);
00077    void dump(const char* label, int indentLevel) const;
00078 
00079 protected:
00080 
00081    // Homogeneous coordinates are needed for above transformations.
00082    void transform(Dt4dPoint& out, const Dt4dPoint& in) const;
00083    void swapRow(int row1, int row2);
00084    void divideRow(int row, double divisor);
00085 
00086 protected:
00087 
00088    double myMatrix[4][4];
00089 };
00090 
00091 #endif