//-*-C++-*- /* ************************************************************************** description -------------------- copyright : (C) 2000-2001 by Andreas Zehender email : zehender@kde.org ************************************************************************** ************************************************************************** * * * This program is free software; you can redistribute it and/or modify * * it under the terms of the GNU General Public License as published by * * the Free Software Foundation; either version 2 of the License, or * * (at your option) any later version. * * * **************************************************************************/ #ifndef PMMATRIX_H #define PMMATRIX_H #ifdef HAVE_CONFIG_H #include #endif #include "pmmath.h" #include "math.h" #include #include class PMVector; /** * 4x4 matrix for transformations with homogenous coordinates * * Optimized for OpenGL. */ class PMMatrix { public: /** * Creates a zero matrix */ PMMatrix( ); /** * Deletes the matrix */ ~PMMatrix( ); /** * Assigns m to the matrix */ PMMatrix& operator= ( const PMMatrix& m ); /** * Creates an identity matrix */ static PMMatrix identity( ); /** * Creates a matrix for translation. */ static PMMatrix translation( double x, double y, double z ); /** * Creates a matrix for rotations. Rotation first around the x, then y * and then around the z axis. * * x, y and z in rad */ static PMMatrix rotation( double x, double y, double z ); /** * Creates a matrix for rotation around the direction n with angle a. * * a in rad. */ static PMMatrix rotation( const PMVector& n, double a ); /** * Creates a viewing matrix. * * The viewpoint is specified by the parameter eye. The parameter * lookAt specifies any point along the line of sight. The up vector * indicate which direction is up. */ static PMMatrix viewTransformation( const PMVector& eye, const PMVector& lookAt, const PMVector& up ); /** * Backwards calculate the rotations from the matrix */ void toRotation( double* x, double* y, double* z ); /** * Creates a matrix for scale. */ static PMMatrix scale( double x, double y, double z ); /** * Returns the current gl modelview matrix */ static PMMatrix modelviewMatrix( ); /** * Returns a pointer to the column (!) at position index. * That means matrix[i][j] is the element at column i and row j*/ GLdouble* operator[] ( int index ) { return &( m_elements[index*4] ); } /** * Returns a pointer to the column (!) at position index. * That means matrix[i][j] is the element at column i and row j*/ const GLdouble* operator[] ( int index ) const { return &(m_elements[index*4]); } /** * Returns true if an inverse matrix can be calculated */ bool canBuildInverse( ) const { return ! approxZero( det( ) ); } /** * Returns the inverse matrix if possible, otherwise a identity matrix */ PMMatrix inverse( ) const; /** * Returns the determinant of the matrix */ double det( ) const; /** * Multiplies m to the matrix from the right side */ PMMatrix& operator*= ( const PMMatrix& m ); /** * Multiplies each element with d */ PMMatrix& operator*= ( const double d ); /** * Divides each element by d */ PMMatrix& operator/= ( const double d ); /** * Returns a matrix with negated elements */ friend PMMatrix operator- ( const PMMatrix& m ); /** * Multiplies m2 with m1 from the right side (m1*m2)*/ friend PMMatrix operator* ( const PMMatrix& m1, const PMMatrix& m2 ); /** * Multiplies d to all elements */ friend PMMatrix operator* ( const PMMatrix& m, const double d ); /** * Multiplies d to all elements */ friend PMMatrix operator* ( const GLdouble d, const PMMatrix& m ); /** * Divides all elements by d */ friend PMMatrix operator/ ( const PMMatrix& m, const double d ); /** * Only for tests */ void testOutput( ); /** * Returns a pointer to the data. Can be used in glMultMatrixd */ const GLdouble* data( ) const { return m_elements; } /** * Returns a string for xml output */ TQString serializeXML( ) const; /** * loads the vector data from the xml string */ bool loadXML( const TQString& str ); private: /** * Exchanges two rows */ void exchangeRows( int r1, int r2 ); /** * Finds a row with not zero element in column index. Begins to * search in row at position index. Used for det() and inverse() * * Returns -1 if all rows are zero in that column */ int notNullElementRow( const int index ) const; GLdouble m_elements[16]; }; #endif