Developer Documentation

GLMatrixT.hh
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40 \*===========================================================================*/
41
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43
44
45
46 //=============================================================================
47 //
48 // CLASS GLMatrixT
49 //
50 //=============================================================================
51
52
53 #ifndef ACG_GLMATRIX_HH
54 #define ACG_GLMATRIX_HH
55
56
57 //== INCLUDES =================================================================
58
59
60 #include "Matrix4x4T.hh"
61 #include "../Config/ACGDefines.hh"
62 #include <cmath>
63
64
65 namespace ACG {
66
67
68 //== CLASS DEFINITION =========================================================
69
70
73 enum MultiplyFrom { MULT_FROM_RIGHT, MULT_FROM_LEFT };
74
75
76
78 template <class Scalar>
79 class GLMatrixT : public Matrix4x4T<Scalar>
80 {
81 public:
82
83 typedef VectorT<Scalar, 3> Vec3;
84
85
87 GLMatrixT() {}
88
90 template <class OtherScalar>
91 inline GLMatrixT(const Matrix4x4T<OtherScalar>& _rhs)
92 : Matrix4x4T<Scalar>(_rhs)
93 {}
94
96 inline GLMatrixT(const GLMatrixT<Scalar>& _rhs)
97 : Matrix4x4T<Scalar>(_rhs)
98 {}
99
102 inline GLMatrixT(const Scalar _array[16]) : Matrix4x4T<Scalar>(_array) {}
103
107 inline GLMatrixT(const Vec3 &col1, const Vec3 &col2, const Vec3 &col3) {
108 /*
109 * Don't try to optimize anything by hand, here. gcc -O2 does the right thing:
110 *
111 * mov %rax,-0x70(%rsp)
112 * mov %rdx,-0x68(%rsp)
113 * mov %rsi,-0x50(%rsp)
114 * lea -0x68(%rsp),%rdx
115 * mov %rax,0x8(%rsp)
116 * mov %rcx,-0x60(%rsp)
117 * lea 0x10(%rsp),%rsi
118 * movq $0x0,-0x58(%rsp)
119 * mov %rdi,-0x48(%rsp)
120 * xor %eax,%eax
121 * mov %r8,-0x40(%rsp)
122 * movq $0x0,-0x38(%rsp)
123 * mov %r9,-0x30(%rsp)
124 * mov %r10,-0x28(%rsp)
125 * mov %r11,-0x20(%rsp)
126 * movq $0x0,-0x18(%rsp)
127 * movq $0x0,-0x10(%rsp)
128 * movq $0x0,-0x8(%rsp)
129 * movq $0x0,(%rsp)
130 *
131 */
132 memcpy(this->mat_ + 0, col1.data(), sizeof(Scalar) * 3);
133 this->mat_[3] = 0;
134 memcpy(this->mat_ + 4, col2.data(), sizeof(Scalar) * 3);
135 this->mat_[7] = 0;
136 memcpy(this->mat_ + 8, col3.data(), sizeof(Scalar) * 3);
137 for (int i = 11; i < 15; ++i) this->mat_[i] = 0;
138 this->mat_[15] = 1;
139 }
140
141
143 ~GLMatrixT() {}
144
145
147 template<typename otherScalar>
148 inline GLMatrixT<Scalar>& operator=(const GLMatrixT<otherScalar>& _rhs)
149 { Matrix4x4T<Scalar>::operator=(_rhs); return *this; }
150
152 template<typename otherScalar>
153 inline GLMatrixT<Scalar>& operator=(const Matrix4x4T<otherScalar>& _rhs)
154 { Matrix4x4T<Scalar>::operator=(_rhs); return *this; }
155
156
157
159 inline void scale( Scalar _x, Scalar _y, Scalar _z,
160 MultiplyFrom _mult_from = MULT_FROM_RIGHT );
162 inline void scale( const Vec3& _v,
163 MultiplyFrom _mult_from = MULT_FROM_RIGHT ) {
164 scale(_v[0], _v[1], _v[2], _mult_from);
165 }
166
167
169 inline void translate( Scalar _x, Scalar _y, Scalar _z,
170 MultiplyFrom _mult_from = MULT_FROM_RIGHT );
172 inline void translate( const Vec3& _v,
173 MultiplyFrom _mult_from = MULT_FROM_RIGHT ) {
174 translate(_v[0], _v[1], _v[2], _mult_from);
175 }
176
177
180 void rotate( Scalar angle, Scalar x, Scalar y, Scalar z,
181 MultiplyFrom _mult_from = MULT_FROM_RIGHT );
184 void rotate( Scalar _angle, const Vec3& _axis,
185 MultiplyFrom _mult_from = MULT_FROM_RIGHT ) {
186 rotate(_angle, _axis[0], _axis[1], _axis[2], _mult_from);
187 }
188
189
190
192 inline void rotateX( Scalar _angle,
193 MultiplyFrom _mult_from = MULT_FROM_RIGHT ) {
194 rotateXYZ( X, _angle, _mult_from );
195 }
196
198 inline void rotateY( Scalar _angle,
199 MultiplyFrom _mult_from = MULT_FROM_RIGHT ) {
200 rotateXYZ( Y, _angle, _mult_from );
201 }
202
204 inline void rotateZ( Scalar _angle,
205 MultiplyFrom _mult_from = MULT_FROM_RIGHT ) {
206 rotateXYZ( Z, _angle, _mult_from );
207 }
208
209
210
211
215 void lookAt(const Vec3& eye,
216 const Vec3& center,
217 const Vec3& up);
218
220 void inverse_lookAt(const Vec3& eye,
221 const Vec3& center,
222 const Vec3& up);
223
224
235 void perspective(Scalar fovY, Scalar aspect,
236 Scalar near_plane, Scalar far_plane);
237
239 void inverse_perspective(Scalar fovY, Scalar aspect,
240 Scalar near_plane,Scalar far_plane);
241
243 void frustum(Scalar left, Scalar right,
244 Scalar bottom, Scalar top,
245 Scalar near_plane, Scalar far_plane);
246
248 void inverse_frustum(Scalar left,Scalar right,
249 Scalar bottom, Scalar top,
250 Scalar near_plane, Scalar far_plane);
251
253 void ortho(Scalar left, Scalar right,
254 Scalar bottom, Scalar top,
255 Scalar near_plane, Scalar far_plane);
256
258 void inverse_ortho(Scalar left, Scalar right,
259 Scalar bottom, Scalar top,
260 Scalar near_plane, Scalar far_plane);
261
262
263
265 VectorT<Scalar, 2> extract_planes_perspective() const;
266
268 VectorT<Scalar, 2> extract_planes_ortho() const;
269
271 bool isPerspective() const;
272
274 bool isOrtho() const;
275
277 VectorT<Scalar, 2> extract_planes() const;
278
279 //----------------------------------------------------- overloaded operators
280
281 GLMatrixT& operator+= ( const Matrix4x4T<Scalar>& _rhs) {
282 Matrix4x4T<Scalar>::operator+=(_rhs); return *this;
283 }
284 GLMatrixT& operator-= ( const Matrix4x4T<Scalar>& _rhs) {
285 Matrix4x4T<Scalar>::operator-=(_rhs); return *this;
286 }
287 GLMatrixT& operator*= ( const Matrix4x4T<Scalar>& _rhs) {
288 Matrix4x4T<Scalar>::operator*=(_rhs); return *this;
289 }
290 GLMatrixT& leftMult(const Matrix4x4T<Scalar>& _rhs) {
291 Matrix4x4T<Scalar>::leftMult(_rhs); return *this;
292 }
293
294 GLMatrixT operator+ (const Matrix4x4T<Scalar>& _rhs) const {
295 return GLMatrixT<Scalar>(*this) += _rhs;
296 }
297 GLMatrixT operator- (const Matrix4x4T<Scalar>& _rhs) const {
298 return GLMatrixT<Scalar>(*this) -= _rhs;
299 }
300 GLMatrixT operator*(const Matrix4x4T<Scalar>& _rhs) const {
301 return GLMatrixT<Scalar>(*this) *= _rhs;
302 }
303
304 template <typename T>
305 inline VectorT<T,4> operator*(const VectorT<T,4>& _v) const {
306 return Matrix4x4T<Scalar>::operator*(_v);
307 }
308
309
310
311 private:
312
313 enum Axis { X, Y, Z };
314 void rotateXYZ( Axis _axis, Scalar _angle, MultiplyFrom _mult_from );
315 };
316
317
318
319
320 //=============================================================================
321
322
324 typedef GLMatrixT<float> GLMatrixf;
326 typedef GLMatrixT<double> GLMatrixd;
327
328
329 //=============================================================================
330 } // namespace ACG
331 //=============================================================================
332 #if defined(INCLUDE_TEMPLATES) && !defined(ACG_GLMATRIX_C)
333 #define ACG_GLMATRIX_TEMPLATES
334 #include "GLMatrixT_impl.hh"
335 #endif
336 //=============================================================================
337 #endif // ACG_GLMATRIX_HH defined
338 //=============================================================================
339
ACG::Matrix4x4T::leftMult
Matrix4x4T & leftMult(const Matrix4x4T< Scalar > &_rhs)
multiply from left: self = _rhs * self
Definition: Matrix4x4T_impl.hh:137
ACG::GLMatrixT::frustum
void frustum(Scalar left, Scalar right, Scalar bottom, Scalar top, Scalar near_plane, Scalar far_plane)
multiply self with a perspective projection matrix
Definition: GLMatrixT_impl.hh:311
ACG
Namespace providing different geometric functions concerning angles.
Definition: BaseObjectData.hh:68
ACG::GLMatrixT::isPerspective
bool isPerspective() const
check if the matrix is a perspective projection matrix
Definition: GLMatrixT_impl.hh:464
ACG::GLMatrixT::inverse_perspective
void inverse_perspective(Scalar fovY, Scalar aspect, Scalar near_plane, Scalar far_plane)
multiply self from left with inverse of perspective projection matrix
Definition: GLMatrixT_impl.hh:294
ACG::GLMatrixT::operator=
GLMatrixT< Scalar > & operator=(const Matrix4x4T< otherScalar > &_rhs)
assignement from other matrix type
Definition: GLMatrixT.hh:153
ACG::GLMatrixT::GLMatrixT
GLMatrixT(const Scalar _array[16])
Definition: GLMatrixT.hh:102
ACG::GLMatrixT::scale
void scale(const Vec3 &_v, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with scaling matrix (x,y,z)
Definition: GLMatrixT.hh:162
ACG::GLMatrixT::lookAt
void lookAt(const Vec3 &eye, const Vec3 &center, const Vec3 &up)
Definition: GLMatrixT_impl.hh:216
ACG::GLMatrixT::GLMatrixT
GLMatrixT(const Vec3 &col1, const Vec3 &col2, const Vec3 &col3)
Definition: GLMatrixT.hh:107
ACG::GLMatrixT::inverse_lookAt
void inverse_lookAt(const Vec3 &eye, const Vec3 &center, const Vec3 &up)
multiply self from left with inverse lookAt matrix
Definition: GLMatrixT_impl.hh:247
ACG::GLMatrixd
GLMatrixT< double > GLMatrixd
typedef
Definition: GLMatrixT.hh:326
ACG::MultiplyFrom
MultiplyFrom
Definition: GLMatrixT.hh:73
OpenMesh::VectorT::data
Scalar * data()
access to Scalar array
Definition: Vector11T.hh:195
ACG::Matrix4x4T::operator-=
Matrix4x4T & operator-=(const Matrix4x4T< Scalar > &_rhs)
self -= _rhs
Definition: Matrix4x4T.hh:182
ACG::GLMatrixT::GLMatrixT
GLMatrixT(const Matrix4x4T< OtherScalar > &_rhs)
construct from other matrix type
Definition: GLMatrixT.hh:91
ACG::GLMatrixT::translate
void translate(const Vec3 &_v, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with translation matrix (x,y,z)
Definition: GLMatrixT.hh:172
ACG::GLMatrixT::extract_planes_perspective
VectorT< Scalar, 2 > extract_planes_perspective() const
extract near and far clipping planes from a perspective projection matrix
Definition: GLMatrixT_impl.hh:438
ACG::Matrix4x4T::operator*
Matrix4x4T operator*(const Matrix4x4T< Scalar > &inst) const
self * _rhs
Definition: Matrix4x4T_impl.hh:79
ACG::GLMatrixT::rotateZ
void rotateZ(Scalar _angle, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with a rotation matrix (angle in degree, z-axis)
Definition: GLMatrixT.hh:204
ACG::GLMatrixT::~GLMatrixT
~GLMatrixT()
destructor
Definition: GLMatrixT.hh:143
ACG::Matrix4x4T::operator*=
Matrix4x4T & operator*=(const Matrix4x4T< Scalar > &_rhs)
self *= _rhs
Definition: Matrix4x4T_impl.hh:109
ACG::GLMatrixT::inverse_ortho
void inverse_ortho(Scalar left, Scalar right, Scalar bottom, Scalar top, Scalar near_plane, Scalar far_plane)
multiply self from left with inverse orthographic projection matrix
Definition: GLMatrixT_impl.hh:408
ACG::GLMatrixT::scale
void scale(Scalar _x, Scalar _y, Scalar _z, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with scaling matrix (x,y,z)
Definition: GLMatrixT_impl.hh:75
ACG::GLMatrixT
4x4 matrix implementing OpenGL commands.
Definition: GLMatrixT.hh:79
ACG::GLMatrixT::rotateY
void rotateY(Scalar _angle, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with a rotation matrix (angle in degree, y-axis)
Definition: GLMatrixT.hh:198
ACG::Matrix4x4T::operator=
Matrix4x4T< Scalar > & operator=(const Matrix4x4T< otherScalar > &_rhs)
assignment from other matrix type
Definition: Matrix4x4T.hh:117
ACG::GLMatrixT::inverse_frustum
void inverse_frustum(Scalar left, Scalar right, Scalar bottom, Scalar top, Scalar near_plane, Scalar far_plane)
multiply self from left with inverse of perspective projection matrix
Definition: GLMatrixT_impl.hh:342
ACG::Matrix4x4T
Definition: Matrix4x4T.hh:92
ACG::GLMatrixT::ortho
void ortho(Scalar left, Scalar right, Scalar bottom, Scalar top, Scalar near_plane, Scalar far_plane)
multiply self with orthographic projection matrix
Definition: GLMatrixT_impl.hh:373
ACG::GLMatrixT::perspective
void perspective(Scalar fovY, Scalar aspect, Scalar near_plane, Scalar far_plane)
multiply self with a perspective projection matrix
Definition: GLMatrixT_impl.hh:277
ACG::GLMatrixT::rotateX
void rotateX(Scalar _angle, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with a rotation matrix (angle in degree, x-axis)
Definition: GLMatrixT.hh:192
OpenMesh::VectorT
Definition: Vector11T.hh:83
ACG::GLMatrixT::rotate
void rotate(Scalar _angle, const Vec3 &_axis, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
Definition: GLMatrixT.hh:184
ACG::GLMatrixf
GLMatrixT< float > GLMatrixf
typedef
Definition: GLMatrixT.hh:324
ACG::GLMatrixT::extract_planes_ortho
VectorT< Scalar, 2 > extract_planes_ortho() const
extract near and far clipping planes from an orthographic projection matrix
Definition: GLMatrixT_impl.hh:451
ACG::GLMatrixT::rotate
void rotate(Scalar angle, Scalar x, Scalar y, Scalar z, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
Definition: GLMatrixT_impl.hh:155
ACG::GLMatrixT::extract_planes
VectorT< Scalar, 2 > extract_planes() const
detect type of projection matrix and extract near and far clipping planes
Definition: GLMatrixT_impl.hh:576
ACG::GLMatrixT::GLMatrixT
GLMatrixT()
constructor: uninitialized values
Definition: GLMatrixT.hh:87
ACG::Matrix4x4T::operator+=
Matrix4x4T & operator+=(const Matrix4x4T< Scalar > &_rhs)
self += _rhs
Definition: Matrix4x4T.hh:176
ACG::GLMatrixT::translate
void translate(Scalar _x, Scalar _y, Scalar _z, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with translation matrix (x,y,z)
Definition: GLMatrixT_impl.hh:96
ACG::GLMatrixT::isOrtho
bool isOrtho() const
check if the matrix is an orthographic projection matrix
Definition: GLMatrixT_impl.hh:523
ACG::GLMatrixT::GLMatrixT
GLMatrixT(const GLMatrixT< Scalar > &_rhs)
copy constructor
Definition: GLMatrixT.hh:96
ACG::GLMatrixT::operator=
GLMatrixT< Scalar > & operator=(const GLMatrixT< otherScalar > &_rhs)
assignement from other matrix type
Definition: GLMatrixT.hh:148