Matrix.h

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// GMTL is (C) Copyright 2001-2010 by Allen Bierbaum
// Distributed under the GNU Lesser General Public License 2.1 with an
// addendum covering inlined code. (See accompanying files LICENSE and
// LICENSE.addendum or http://www.gnu.org/copyleft/lesser.txt)

#ifndef _GMTL_MATRIX_H_
#define _GMTL_MATRIX_H_

#include <gmtl/Defines.h>
#include <gmtl/Math.h>
#include <gmtl/Util/Assert.h>
#include <gmtl/Util/StaticAssert.h>

namespace gmtl
{

template <typename DATA_TYPE, unsigned ROWS, unsigned COLS>
class Matrix
{
public:
   // This is a hack to work around a bug with GCC 3.3 on Mac OS X where
   // boost::is_polymorphic returns a false positive.  The details can be
   // found in the Boost.Python FAQ:
   //    http://www.boost.org/libs/python/doc/v2/faq.html#macosx
#if defined(__MACH__) && defined(__APPLE_CC__) && defined(__GNUC__) && \
    __GNUC__ == 3 && __GNUC_MINOR__ == 3
   bool dummy_;
#endif

   typedef DATA_TYPE DataType;
   enum Params
   {
      Rows = ROWS, Cols = COLS
   };

   class RowAccessor
   {
   public:
      typedef DATA_TYPE DataType;

      RowAccessor(Matrix<DATA_TYPE,ROWS,COLS>* mat, const unsigned row)
         : mMat(mat), mRow(row)
      {
         gmtlASSERT(row < ROWS);
         gmtlASSERT(NULL != mat);
      }

      DATA_TYPE& operator[](const unsigned column)
      {
         gmtlASSERT(column < COLS);
         return (*mMat)(mRow,column);
      }

      Matrix<DATA_TYPE,ROWS,COLS>*  mMat;
      unsigned                      mRow;    
   };

   class ConstRowAccessor
   {
   public:
      typedef DATA_TYPE DataType;

      ConstRowAccessor( const Matrix<DATA_TYPE,ROWS,COLS>* mat,
                        const unsigned row )
         : mMat( mat ), mRow( row )
      {
         gmtlASSERT( row < ROWS );
         gmtlASSERT( NULL != mat );
      }

      const DATA_TYPE& operator[](const unsigned column) const
      {
         gmtlASSERT(column < COLS);
         return (*mMat)(mRow,column);
      }

      const Matrix<DATA_TYPE,ROWS,COLS>*  mMat;
      unsigned                      mRow;    
   };

   enum XformState
   {
      // identity matrix.
      IDENTITY = 1,

      // only translation, can simply negate that column
      TRANS = 2,

      // able to tranpose to get the inverse.  only rotation component is set
      ORTHOGONAL = 4,

      // orthogonal, and normalized axes.
      //ORTHONORMAL = 8,

      // leaves the homogeneous coordinate unchanged - that is, in which the last column is (0,0,0,s).
      // can include rotation, uniform scale, and translation, but no shearing or nonuniform scaling
      // This can optionally be combined with the NON_UNISCALE state to indicate there is also non-uniform scale
      AFFINE = 16,

      // AFFINE matrix with non-uniform scale, a matrix cannot
      // have this state without also having AFFINE (must be or'd together).
      NON_UNISCALE = 32,

      // fully set matrix containing more information than the above, or state is unknown,
      // or unclassifiable in terms of the above.
      FULL = 64,

      // error bit
      XFORM_ERROR = 128
   };

   Matrix()
   {
      for (unsigned int r = 0; r < ROWS; ++r)
      {
         for (unsigned int c = 0; c < COLS; ++c)
         {   this->operator()( r, c ) = (DATA_TYPE)0.0; }
      }

      for (unsigned int x = 0; x < Math::Min( COLS, ROWS ); ++x)
      {  this->operator()( x, x ) = (DATA_TYPE)1.0; }

      mState = IDENTITY;
   }

   Matrix( const Matrix<DATA_TYPE, ROWS, COLS>& matrix )
   {
      this->set( matrix.getData() );
      mState = matrix.mState;
   }

   void set( DATA_TYPE v00, DATA_TYPE v01,
             DATA_TYPE v10, DATA_TYPE v11 )
   {
      GMTL_STATIC_ASSERT( (ROWS == 2 && COLS == 2), Set_called_when_Matrix_not_of_size_2_2 );
      mData[0] = v00;
      mData[1] = v10;
      mData[2] = v01;
      mData[3] = v11;
      mState = FULL;
   }

   void set( DATA_TYPE v00, DATA_TYPE v01, DATA_TYPE v02,
             DATA_TYPE v10, DATA_TYPE v11, DATA_TYPE v12  )
   {
      GMTL_STATIC_ASSERT( (ROWS == 2 && COLS == 3), Set_called_when_Matrix_not_of_size_2_3 );
      mData[0] = v00;
      mData[1] = v10;
      mData[2] = v01;
      mData[3] = v11;
      mData[4] = v02;
      mData[5] = v12;
      mState = FULL;
   }

   void set( DATA_TYPE v00, DATA_TYPE v01, DATA_TYPE v02,
             DATA_TYPE v10, DATA_TYPE v11, DATA_TYPE v12,
             DATA_TYPE v20, DATA_TYPE v21, DATA_TYPE v22)
   {
      GMTL_STATIC_ASSERT( (ROWS == 3 && COLS == 3), Set_called_when_Matrix_not_of_size_3_3 );
      mData[0] = v00;
      mData[1] = v10;
      mData[2] = v20;

      mData[3] = v01;
      mData[4] = v11;
      mData[5] = v21;

      mData[6] = v02;
      mData[7] = v12;
      mData[8] = v22;
      mState = FULL;
   }

   void set( DATA_TYPE v00, DATA_TYPE v01, DATA_TYPE v02, DATA_TYPE v03,
             DATA_TYPE v10, DATA_TYPE v11, DATA_TYPE v12, DATA_TYPE v13,
             DATA_TYPE v20, DATA_TYPE v21, DATA_TYPE v22, DATA_TYPE v23)
   {
      GMTL_STATIC_ASSERT( (ROWS == 3 && COLS == 4), Set_called_when_Matrix_not_of_size_3_4 );
      mData[0] = v00;
      mData[1] = v10;
      mData[2] = v20;
      mData[3] = v01;
      mData[4] = v11;
      mData[5] = v21;
      mData[6] = v02;
      mData[7] = v12;
      mData[8] = v22;

      // right row
      mData[9]  = v03;
      mData[10] = v13;
      mData[11] = v23;
      mState = FULL;
   }

   void set( DATA_TYPE v00, DATA_TYPE v01, DATA_TYPE v02, DATA_TYPE v03,
             DATA_TYPE v10, DATA_TYPE v11, DATA_TYPE v12, DATA_TYPE v13,
             DATA_TYPE v20, DATA_TYPE v21, DATA_TYPE v22, DATA_TYPE v23,
             DATA_TYPE v30, DATA_TYPE v31, DATA_TYPE v32, DATA_TYPE v33 )
   {
      GMTL_STATIC_ASSERT( (ROWS == 4 && COLS == 4), Set_called_when_Matrix_not_of_size_4_4 );
      mData[0]  = v00;
      mData[1]  = v10;
      mData[2]  = v20;
      mData[4]  = v01;
      mData[5]  = v11;
      mData[6]  = v21;
      mData[8]  = v02;
      mData[9]  = v12;
      mData[10] = v22;

      // right row
      mData[12] = v03;
      mData[13] = v13;
      mData[14] = v23;

      // bottom row
      mData[3]  = v30;
      mData[7]  = v31;
      mData[11] = v32;
      mData[15] = v33;
      mState = FULL;
   }

   //void operator,()( DATA_TYPE b ) {}

   void set( const DATA_TYPE* data )
   {
      for (unsigned int x = 0; x < ROWS * COLS; ++x)
         mData[x] = data[x];
      mState = FULL;
   }

   void setTranspose( const DATA_TYPE* data )
   {
      for (unsigned int r = 0; r < ROWS; ++r)
      for (unsigned int c = 0; c < COLS; ++c)
         this->operator()( r, c ) = data[(r * COLS) + c];
      mState = FULL;
   }

   DATA_TYPE& operator()( const unsigned row, const unsigned column )
   {
      gmtlASSERT( (row < ROWS) && (column < COLS) );
      return mData[column*ROWS + row];
   }

   const DATA_TYPE&  operator()( const unsigned row, const unsigned column ) const
   {
      gmtlASSERT( (row < ROWS) && (column < COLS) );
      return mData[column*ROWS + row];
   }

   RowAccessor operator[]( const unsigned row )
   {
      return RowAccessor(this, row);
   }

   ConstRowAccessor operator[]( const unsigned row ) const
   {
      return ConstRowAccessor( this, row );
   }

   /*
   // bracket operator
   const DATA_TYPE& operator[]( const unsigned i ) const
   {
      gmtlASSERT( i < (ROWS*COLS) );
      return mData[i];
   }
   */

   const DATA_TYPE*  getData() const { return (DATA_TYPE*)mData; }

   bool isError()
   {
      return mState & XFORM_ERROR;
   }
   void setError()
   {
      mState |= XFORM_ERROR;
   }

   void setState(int state)
   { mState = state; }

public:
   DATA_TYPE mData[COLS*ROWS];

   int mState;
};

typedef Matrix<float, 2, 2> Matrix22f;
typedef Matrix<double, 2, 2> Matrix22d;
typedef Matrix<float, 2, 3> Matrix23f;
typedef Matrix<double, 2, 3> Matrix23d;
typedef Matrix<float, 3, 3> Matrix33f;
typedef Matrix<double, 3, 3> Matrix33d;
typedef Matrix<float, 3, 4> Matrix34f;
typedef Matrix<double, 3, 4> Matrix34d;
typedef Matrix<float, 4, 4> Matrix44f;
typedef Matrix<double, 4, 4> Matrix44d;

const Matrix22f MAT_IDENTITY22F = Matrix22f();

const Matrix22d MAT_IDENTITY22D = Matrix22d();

const Matrix23f MAT_IDENTITY23F = Matrix23f();

const Matrix23d MAT_IDENTITY23D = Matrix23d();

const Matrix33f MAT_IDENTITY33F = Matrix33f();

const Matrix33d MAT_IDENTITY33D = Matrix33d();

const Matrix34f MAT_IDENTITY34F = Matrix34f();

const Matrix34d MAT_IDENTITY34D = Matrix34d();

const Matrix44f MAT_IDENTITY44F = Matrix44f();

const Matrix44d MAT_IDENTITY44D = Matrix44d();

inline int combineMatrixStates( int state1, int state2 )
{
   switch (state1)
   {
   case Matrix44f::IDENTITY:
      switch (state2)
      {
      case Matrix44f::XFORM_ERROR: return state2;
      case Matrix44f::NON_UNISCALE: return Matrix44f::XFORM_ERROR;
      default: return state2;
      }
   case Matrix44f::TRANS:
      switch (state2)
      {
      case Matrix44f::IDENTITY: return state1;
      case Matrix44f::ORTHOGONAL: return Matrix44f::AFFINE;
      case Matrix44f::NON_UNISCALE: return Matrix44f::XFORM_ERROR;
      default: return state2;
      }
   case Matrix44f::ORTHOGONAL:
      switch (state2)
      {
      case Matrix44f::IDENTITY: return state1;
      case Matrix44f::TRANS: return Matrix44f::AFFINE;
      case Matrix44f::NON_UNISCALE: return Matrix44f::XFORM_ERROR;
      default: return state2;
      }
   case Matrix44f::AFFINE:
      switch (state2)
      {
      case Matrix44f::IDENTITY:
      case Matrix44f::TRANS:
      case Matrix44f::ORTHOGONAL:  return state1;
      case Matrix44f::NON_UNISCALE: return Matrix44f::XFORM_ERROR;
      case Matrix44f::AFFINE | Matrix44f::NON_UNISCALE:
      default: return state2;
      }
   case Matrix44f::AFFINE | Matrix44f::NON_UNISCALE:
      switch (state2)
      {
      case Matrix44f::IDENTITY:
      case Matrix44f::TRANS:
      case Matrix44f::ORTHOGONAL:
      case Matrix44f::AFFINE:  return state1;
      case Matrix44f::NON_UNISCALE: return Matrix44f::XFORM_ERROR;
      default: return state2;
      }
   case Matrix44f::FULL:
      switch (state2)
      {
      case Matrix44f::XFORM_ERROR: return state2;
      case Matrix44f::NON_UNISCALE: return Matrix44f::XFORM_ERROR;
      default: return state1;
      }
      break;
   default:
      return Matrix44f::XFORM_ERROR;
   }
}

} // end namespace gmtl



#endif