homogeneousTransformMatrix.h

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/*********************************************************************
** Copyright (c) 1999 MaK Technologies, Inc.
** All rights reserved.
*********************************************************************/
#ifndef homogeneousTransformMatrix_H_
#define homogeneousTransformMatrix_H_

//forward declarations
class Dt4dPoint;
class DtPoint;
class DtChord;
class DtExtent;

#include <matrix/vlVector.h>
#include "geometry/geometryDefines.h"
#include "stdio.h"

typedef unsigned DtMatrix4x4Sub;

//
//
// class DtHomogeneousTransformMatrix
//
//
class DT_DLL_geometry DtHomogeneousTransformMatrix
{
  public:
   DtHomogeneousTransformMatrix();

   // Initializations. 
   void initToIdentityTransformation();
   void initTranslation(const DtPoint& wc);
   void initScale(double sx, double sy, double sz);
   void initShear(double shx, double shy);
   void initRotAboutX(double theta);
   void initRotAboutY(double theta);
   void initRotAboutZ(double theta);
   void initPerspective(double distanceToProjectionPlane);
   void initPerspectiveToParallel(double zmin);

   void setTranslation(const DtPoint& wc);
   void setScale(double sx, double sy, double sz);
   void setShear(double shx, double shy);
   void setRotAboutX(double theta);
   void setRotAboutY(double theta);
   void setRotAboutZ(double theta);
   void setPerspective(double distanceToProjectionPlane);
   void setPerspectiveToParallel(double zmin);

   void setRow(int col, double sx, double sy, double sz, double sa);
   void setColumn(int col, double sx, double sy, double sz, double sa);

   // Matrix operations. 
   void transpose();
   void transposeInto(DtHomogeneousTransformMatrix& out) const;
   void invert();
   void invertInto(DtHomogeneousTransformMatrix& out) const;
   void concatenate(const DtHomogeneousTransformMatrix& m1, 
                     const DtHomogeneousTransformMatrix& m2); 
   // Safe to use on itself 

   // Transformation operations. 
   void transformPoint(DtPoint& out, const DtPoint& in) const;
   void transformPoint(DtPoint& inout) const;
   void transformVector(DtVector& out, const DtVector& in) const;
   void transformVector(DtVector& inout) const;
   void transformChord(DtChord& out, const DtChord& in) const;
   void transformChord(DtChord& inout) const;
   void transformExtent(DtExtent& inout) const;

   // returns true if the matrix is identity
   bool isIdentity() const;

   // I/O. 
   bool readFrom(FILE* fp);
   bool writeTo(FILE* fp);
   void dump(const char* label, int indentLevel) const;

protected:

   // Homogeneous coordinates are needed for above transformations.
   void transform(Dt4dPoint& out, const Dt4dPoint& in) const;
   void swapRow(int row1, int row2);
   void divideRow(int row, double divisor);

protected:

   double myMatrix[4][4];
};

#endif