129 lines
4.7 KiB
C++
129 lines
4.7 KiB
C++
#include "MT_Optimize.h"
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GEN_INLINE MT_Quaternion MT_Matrix3x3::getRotation() const {
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static int next[3] = { 1, 2, 0 };
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MT_Quaternion result;
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MT_Scalar trace = m_el[0][0] + m_el[1][1] + m_el[2][2];
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if (trace > 0.0)
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{
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MT_Scalar s = sqrt(trace + MT_Scalar(1.0));
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result[3] = s * MT_Scalar(0.5);
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s = MT_Scalar(0.5) / s;
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result[0] = (m_el[2][1] - m_el[1][2]) * s;
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result[1] = (m_el[0][2] - m_el[2][0]) * s;
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result[2] = (m_el[1][0] - m_el[0][1]) * s;
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}
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else
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{
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int i = 0;
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if (m_el[1][1] > m_el[0][0])
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i = 1;
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if (m_el[2][2] > m_el[i][i])
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i = 2;
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int j = next[i];
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int k = next[j];
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MT_Scalar s = sqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + MT_Scalar(1.0));
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result[i] = s * MT_Scalar(0.5);
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s = MT_Scalar(0.5) / s;
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result[3] = (m_el[k][j] - m_el[j][k]) * s;
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result[j] = (m_el[j][i] + m_el[i][j]) * s;
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result[k] = (m_el[k][i] + m_el[i][k]) * s;
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}
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return result;
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}
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GEN_INLINE MT_Matrix3x3& MT_Matrix3x3::operator*=(const MT_Matrix3x3& m) {
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setValue(m.tdot(0, m_el[0]), m.tdot(1, m_el[0]), m.tdot(2, m_el[0]),
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m.tdot(0, m_el[1]), m.tdot(1, m_el[1]), m.tdot(2, m_el[1]),
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m.tdot(0, m_el[2]), m.tdot(1, m_el[2]), m.tdot(2, m_el[2]));
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return *this;
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}
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GEN_INLINE MT_Scalar MT_Matrix3x3::determinant() const {
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return MT_triple((*this)[0], (*this)[1], (*this)[2]);
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}
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GEN_INLINE MT_Matrix3x3 MT_Matrix3x3::absolute() const {
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return
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MT_Matrix3x3(MT_abs(m_el[0][0]), MT_abs(m_el[0][1]), MT_abs(m_el[0][2]),
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MT_abs(m_el[1][0]), MT_abs(m_el[1][1]), MT_abs(m_el[1][2]),
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MT_abs(m_el[2][0]), MT_abs(m_el[2][1]), MT_abs(m_el[2][2]));
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}
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GEN_INLINE MT_Matrix3x3 MT_Matrix3x3::transposed() const {
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return MT_Matrix3x3(m_el[0][0], m_el[1][0], m_el[2][0],
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m_el[0][1], m_el[1][1], m_el[2][1],
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m_el[0][2], m_el[1][2], m_el[2][2]);
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}
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GEN_INLINE void MT_Matrix3x3::transpose() {
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*this = transposed();
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}
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GEN_INLINE MT_Matrix3x3 MT_Matrix3x3::adjoint() const {
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return
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MT_Matrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
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cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
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cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
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}
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GEN_INLINE MT_Matrix3x3 MT_Matrix3x3::inverse() const {
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MT_Vector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
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MT_Scalar det = MT_dot((*this)[0], co);
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MT_assert(!MT_fuzzyZero2(det));
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MT_Scalar s = MT_Scalar(1.0) / det;
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return
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MT_Matrix3x3(co[0] * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
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co[1] * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
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co[2] * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
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}
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GEN_INLINE void MT_Matrix3x3::invert() {
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*this = inverse();
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}
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GEN_INLINE MT_Vector3 operator*(const MT_Matrix3x3& m, const MT_Vector3& v) {
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return MT_Vector3(MT_dot(m[0], v), MT_dot(m[1], v), MT_dot(m[2], v));
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}
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GEN_INLINE MT_Vector3 operator*(const MT_Vector3& v, const MT_Matrix3x3& m) {
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return MT_Vector3(m.tdot(0, v), m.tdot(1, v), m.tdot(2, v));
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}
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GEN_INLINE MT_Matrix3x3 operator*(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2) {
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return
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MT_Matrix3x3(m2.tdot(0, m1[0]), m2.tdot(1, m1[0]), m2.tdot(2, m1[0]),
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m2.tdot(0, m1[1]), m2.tdot(1, m1[1]), m2.tdot(2, m1[1]),
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m2.tdot(0, m1[2]), m2.tdot(1, m1[2]), m2.tdot(2, m1[2]));
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}
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GEN_INLINE MT_Matrix3x3 MT_multTransposeLeft(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2) {
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return MT_Matrix3x3(
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m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
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m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
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m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
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m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
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m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
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m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
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m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
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m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
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m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
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}
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GEN_INLINE MT_Matrix3x3 MT_multTransposeRight(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2) {
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return
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MT_Matrix3x3(m1[0].dot(m2[0]), m1[0].dot(m2[1]), m1[0].dot(m2[2]),
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m1[1].dot(m2[0]), m1[1].dot(m2[1]), m1[1].dot(m2[2]),
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m1[2].dot(m2[0]), m1[2].dot(m2[1]), m1[2].dot(m2[2]));
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}
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