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CMat4D.h

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00001 /*
00002  * CMat4D.h
00003  * $Id: CMat4D.h,v 1.4 2003/06/24 14:50:02 anxo Exp $
00004  *
00005  * Copyright (C) 1999, 2000 Michael Meissner, Markus Janich, Rainer Jaeger
00006  *
00007  * This program is free software; you can redistribute it and/or modify
00008  * it under the terms of the GNU General Public License as published by
00009  * the Free Software Foundation; either version 2 of the License, or
00010  * (at your option) any later version.
00011  *
00012  * This program is distributed in the hope that it will be useful,
00013  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  * GNU General Public License for more details.
00016  *
00017  * You should have received a copy of the GNU General Public License
00018  * along with this program; if not, write to the Free Software
00019  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00020  *
00021  * As a special exception to the GPL, the QGLViewer authors (Markus
00022  * Janich, Michael Meissner, Richard Guenther, Alexander Buck and Thomas
00023  * Woerner) give permission to link this program with Qt (non-)commercial
00024  * edition, and distribute the resulting executable, without including
00025  * the source code for the Qt (non-)commercial edition in the source
00026  * distribution.
00027  *
00028  */
00029 
00030 //  Description : Class CMat4D
00031 //  Purpose     : Provides funcionality of a matrix
00032 
00033 
00034 #ifndef __CMAT4D_H_
00035 #define __CMAT4D_H_
00036 
00037 
00038 // Qt
00040 
00041 
00042 // System
00044 #if _MSC_VER >= 1200
00045 #include <iostream>
00046 #else
00047 #include <iostream.h>
00048 #endif
00049 #include <math.h>
00050 #include <string.h>
00051 
00052 
00053 // Own
00055 #include "CV4D.h"
00056 #include "CQuat.h"
00057 #include "CP4D.h"
00058 
00059 
00060 
00062 
00085 class CMat4D {
00086 
00087 public:
00089   CMat4D(void);
00090 
00094   CMat4D(const CV4D&, const CV4D&, const CV4D&, const CV4D&);
00095 
00099   CMat4D(const double*);
00100 
00102   CMat4D(double, double, double, double, double, double, double, double,
00103          double, double, double, double, double, double, double, double);
00104 
00106   CMat4D(const CMat4D&);
00107 
00109   static CMat4D PIdentity(void);
00110 
00113   static CMat4D PTranslate(const CV4D&);
00114 
00116   static CMat4D PTranslate(const CV3D&);
00117 
00119   static CMat4D PTranslate(double, double, double);
00120 
00123   static CMat4D PScale(const CV4D&);
00124 
00126   static CMat4D PScale(const CV3D&);
00127 
00129   static CMat4D PScale(double, double, double);
00130 
00134   static CMat4D PRotate(const CV4D&, double);
00135 
00138   static CMat4D PRotate(const CV3D&, double);
00139 
00141   static CMat4D PRotate(CQuat&);
00142 
00144   ~CMat4D(void);
00145 
00146 
00147 
00149   // OVERLOADED OPERATORS //
00151 
00153   const CMat4D& operator=(const CMat4D&);
00154 
00156   const CMat4D& operator=(const double a);
00157 
00159   CMat4D& operator+=(const CMat4D &m);
00160 
00161   /* Substract matrix from this matrix */
00162   CMat4D& operator-=(const CMat4D &m);
00163 
00165   CMat4D& operator*=(const CMat4D&);
00166 
00167 
00169   CMat4D operator+(const CMat4D&) const;
00170 
00172   CMat4D operator-(const CMat4D&) const;
00173 
00175   CMat4D operator*(const CMat4D &m) const;
00176 
00178   CMat4D operator*(double scalar) const;
00179 
00181   bool operator == (const CMat4D &m) const;
00182 
00184   bool operator != (const CMat4D &m) const;
00185 
00186 
00188   double operator()(int i,int j) const;
00189 
00191   CV4D operator[](int i) const;
00192 
00194   CV4D operator()(int j) const;
00195 
00196 
00198   friend CV4D operator*(const CMat4D&, const CV4D&);
00199 
00201   friend CP4D operator*(const CMat4D&, const CP4D&);
00202 
00204   friend CMat4D operator*(double, const CMat4D&);
00205 
00207   friend CMat4D operator*(const CMat4D& M, double rdFactor) { return rdFactor*M; };
00208  
00209 
00210 
00212   // METHODS //
00214  
00216   const double *getArray() { return m_ardValues; };
00217 
00219   void clear(void);
00220 
00224   void setValues(double* field);
00225  
00227   double getCoeff(int i,int j) const;
00228 
00230   void setCoeff(int i,int j, double value);
00231  
00233   CMat4D getTransposed(void) const;
00234 
00235   // Inverted
00236   CMat4D getInverted(void) const;
00237 
00239   bool invert(void);
00240 
00242   void transpose(void);
00243 
00245   void print(void);
00246 
00248   friend ::ostream& operator << (::ostream& s, const CMat4D &m );
00249 
00251   void setIdentity( void );
00252 
00254   CV4D getRow(int);
00255 
00257   CV4D getCol(int);
00258 
00260   void setRow(int nRow, const CV4D&);
00261  
00263   void setCol(int nCol, const CV4D&);
00265   void setRows(const CV4D&, const CV4D&, const CV4D&, const CV4D&);
00266 
00268   void setCols(const CV4D&, const CV4D&, const CV4D&, const CV4D&);
00269 
00273   void setScaling(const CV4D&);
00274 
00278   void setScaling(const CV3D&);
00279 
00283   void setScaling(double, double, double);
00284 
00288   void setTranslation(const CV4D&);
00289 
00293   void setTranslation(const CV3D&);
00294 
00298   void setTranslation(double, double, double);
00299 
00301   void setRotation(CV4D&, double);
00302 
00304   void setRotation(CV3D&, double);
00305 
00307   void setRotation(CQuat&);
00308 
00309 
00310 
00311  private:
00313   double*  get1DField(void);
00314 
00316   double** get2DField(void);
00317 
00318   double m_ardValues[16];  // In the array the values of the matrix are saved by columns.
00319 };
00320 
00321 #endif // __CMAT4D_H_

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