osg::Matrix4d Class Reference

Inheritance diagram for osg::Matrix4d:

List of all members.

Internal Math

static const UInt32 JacobiRank = 3

ValueTypeT det3 (const ValueTypeT a1, const ValueTypeT a2, const ValueTypeT a3, const ValueTypeT b1, const ValueTypeT b2, const ValueTypeT b3, const ValueTypeT c1, const ValueTypeT c2, const ValueTypeT c3) const

ValueTypeT rowMulCol4 (const TransformationMatrix &gRowMat, UInt32 iRow, const TransformationMatrix &gColMat, UInt32 iColumn) const

ValueTypeT det2 (const ValueTypeT a1, const ValueTypeT a2, const ValueTypeT b1, const ValueTypeT b2) const

bool jacobi (ValueTypeT evalues[JacobiRank], VectorType3f evectors[JacobiRank], Int32 &rots)

Public Types

Types

typedef ValueTypeT ValueType

Value type, eg Real32.

typedef VectorInterface
< ValueTypeT, VecStorage4
< ValueTypeT > > VectorType

Matrix vector type, eg Vec4f.

typedef QuaternionBase< ValueType > QuaternionType

Matrix quaternion type.

typedef VectorInterface
< ValueTypeT, VecStorage3
< ValueTypeT > > VectorType3f

Matrix vec3f type.

typedef PointInterface
< ValueTypeT, VecStorage3
< ValueTypeT > > PointType3f

Matrix pnt3f type.

Public Member Functions

Set

void setIdentity (void)

void setValue (const TransformationMatrix &mat)

void setValue (const VectorType3f &vector1, const VectorType3f &vector2, const VectorType3f &vector3)

void setValue (const VectorType3f &vector1, const VectorType3f &vector2, const VectorType3f &vector3, const VectorType3f &vector4)

void setValue (const ValueTypeT rVal00, const ValueTypeT rVal10, const ValueTypeT rVal20, const ValueTypeT rVal30, const ValueTypeT rVal01, const ValueTypeT rVal11, const ValueTypeT rVal21, const ValueTypeT rVal31, const ValueTypeT rVal02, const ValueTypeT rVal12, const ValueTypeT rVal22, const ValueTypeT rVal32, const ValueTypeT rVal03, const ValueTypeT rVal13, const ValueTypeT rVal23, const ValueTypeT rVal33)

void setValue (const ValueTypeT *pMat, bool bTransposed=true)

Set value from an ValueTypeT array, be shure the sizes match.

void setValue (const VectorType *pMat)

Set value from an VectorTypeT array, be shure the sizes match.

void setValue (const VectorType3f *pMat)

void setValue (const Char8 *string, bool bTransposed=true)

Set matrix by a given str (like "1.0 0.0 0.0 0.0 ... (16 entries at all)"), be shure the size matches.

void setValueTransposed (const ValueTypeT rVal00, const ValueTypeT rVal01, const ValueTypeT rVal02, const ValueTypeT rVal03, const ValueTypeT rVal10, const ValueTypeT rVal11, const ValueTypeT rVal12, const ValueTypeT rVal13, const ValueTypeT rVal20, const ValueTypeT rVal21, const ValueTypeT rVal22, const ValueTypeT rVal23, const ValueTypeT rVal30, const ValueTypeT rVal31, const ValueTypeT rVal32, const ValueTypeT rVal33)

Get

ValueTypeT * getValues (void)

Returns an C++ pointer to the value store.

const ValueTypeT * getValues (void) const

Returns an C++ pointer to the value store.

Set Transformations

void setScale (const ValueTypeT s)

Sets matrix to scale by given uniform factor.

void setScale (const ValueTypeT sx, const ValueTypeT sy, const ValueTypeT sz)

Sets matrix to scale by given uniform factor.

void setScale (const VectorType3f &s)

Sets matrix to scale by given vector.

void setTranslate (const ValueTypeT tx, const ValueTypeT ty, const ValueTypeT tz)

Sets matrix to translate by given values.

void setTranslate (const VectorType3f &t)

Sets matrix to translate by given vector.

void setTranslate (const PointType3f &t)

Sets matrix to translate by given point.

void setRotate (const QuaternionType &q)

Sets matrix to rotate by given rotation.

void setTransform (const VectorType3f &t)

Composes the matrix based on a translation.

void setTransform (const QuaternionType &r)

Composes the matrix based on a rotation.

void setTransform (const VectorType3f &t, const QuaternionType &r)

Composes the matrix based on a translation and rotation.

void setTransform (const VectorType3f &t, const QuaternionType &r, const VectorType3f &s)

Composes the matrix based on a translation, rotation and scale.

void setTransform (const VectorType3f &t, const QuaternionType &r, const VectorType3f &s, const QuaternionType &so)

Composes the matrix based on a translation, rotation, scale and orientation.

void setTransform (const VectorType3f &translation, const QuaternionType &rotation, const VectorType3f &scaleFactor, const QuaternionType &scaleOrientation, const VectorType3f &center)

Get Transformations

void getTransform (VectorType3f &translation, QuaternionType &rotation, VectorType3f &scaleFactor, QuaternionType &scaleOrientation, const VectorType3f &center) const

Decomposes the matrix into a translation, rotation, scale, and scale orientation. Any projection information is discarded. The decomposition depends upon choice of center point for rotation and scaling, which is optional as the last parameter. Note that if the center is 0, decompose() is the same as factor() where "t" is translation, "u" is rotation, "s" is scaleFactor, and "r" is ScaleOrientattion.

void getTransform (VectorType3f &translation, QuaternionType &rotation, VectorType3f &scaleFactor, QuaternionType &scaleOrientation) const

Decomposes the matrix into a translation, rotation and scale.

bool factor (TransformationMatrix &r, VectorType3f &s, TransformationMatrix &u, VectorType3f &t, TransformationMatrix &proj) const

Factors a matrix m into 5 pieces: m = r s rt u t, where rt means transpose of r, and r and u are rotations, s is a scale, and t is a translation. Any projection information is returned in proj.

Transform

void multMatrixPnt (const PointType3f &src, PointType3f &dst) const

Multiplies matrix by given column point, where the resulting point is given.

void multMatrixPnt (PointType3f &pnt) const

Multiplies matrix by given column point.

void multFullMatrixPnt (const PointType3f &src, PointType3f &dst) const

Multiplies matrix by given column point, where the resulting point is given. The full (4x4) matrix is used.

void multFullMatrixPnt (PointType3f &pnt) const

Multiplies matrix by given column point. The full (4x4) matrix is used.

void multMatrixVec (const VectorType3f &src, VectorType3f &dst) const

Multiplies matrix by given column vector, where the resulting vector is given.

void multMatrixVec (VectorType3f &vec) const

Multiplies matrix by given column vector.

void multMatrixVec (const VectorType &src, VectorType &dst) const

Multiplies matrix by given column point, where the resulting point is given.

void multMatrixVec (VectorType &vec) const

Multiplies matrix by given column point, where the resulting point is given.

void mult (const PointType3f &src, PointType3f &dst) const

Transforms the given point by the matrix and stores the result in dest.

void mult (PointType3f &vec) const

Transforms the given point by the matrix.

void mult (const VectorType3f &src, VectorType3f &dst) const

Transforms the given vector by the matrix and stores the result in dest.

void mult (VectorType3f &vec) const

Transforms the given vector by the matrix.

void multPntMatrix (const PointType3f &src, PointType3f &dst) const

Multiplies given row point by matrix, where the resulting point is given (pT * M).

void multPntMatrix (PointType3f &pnt) const

Multiplies given row point by matrix (pT * M).

void multPntFullMatrix (const PointType3f &src, PointType3f &dst) const

Multiplies given row point by matrix, where the resulting point is given. The full (4x4) matrix is used (pT * M).

void multPntFullMatrix (PointType3f &pnt) const

Multiplies given row point by matrix. The full (4x4) matrix is used (pT*M).

void multVecMatrix (const VectorType3f &src, VectorType3f &dst) const

Multiplies given row vector by matrix, where the resulting vector is given (vT * M).

void multVecMatrix (VectorType3f &vec) const

Multiplies given row vector by matrix.

Math

void mult (const TransformationMatrix &matrix)

Returns true iff all matrix elements are equal within the given tolerance.

bool equals (const TransformationMatrix &matrix, const ValueType tol) const

Returns true iff all matrix elements are equal within the given tolerance.

ValueTypeT det3 (void) const

Returns the determinat of the upper 3x3 submatrix.

ValueTypeT det (void) const

Returns the determinat of the whole 4x4 matrix.

bool inverse (TransformationMatrix &result) const

Stores the inverse of the matrix into result, returns true if the matrix is not singular.

bool invert (void)

Inverts the matrix, returns true if the matrix is not singular.

bool invertFrom (const TransformationMatrix &matrix)

Set the matrix to be the inverse of the given one, returns true if the matrix is not singular.

bool inverse3 (TransformationMatrix &result) const

Returns true iff all matrix elements are equal within the given tolerance.

bool invert3 (void)

Returns true iff all matrix elements are equal within the given tolerance.

bool invertFrom3 (const TransformationMatrix &matrix)

Returns true iff all matrix elements are equal within the given tolerance.

bool transposed (TransformationMatrix &result) const

Returns true iff all matrix elements are equal within the given tolerance.

bool transpose (void)

Returns true iff all matrix elements are equal within the given tolerance.

bool transposeFrom (const TransformationMatrix &matrix)

Returns true iff all matrix elements are equal within the given tolerance.

void multLeft (const TransformationMatrix &matrix)

Returns true iff all matrix elements are equal within the given tolerance.

void add (const TransformationMatrix &matrix)

Adds the given matrix to this matrix.

void scale (ValueTypeT s)

Scales the elements of this matrix.

void addScaled (const TransformationMatrix &matrix, ValueTypeT s)

Adds a scaled version of the given matrix to this matrix.

void negate (void)

Negates the matrix in place.

ValueTypeT norm1 (void) const

Returns the 1-norm of _matrix matrix.

ValueTypeT norm2 (void) const

Returns the 2-norm of this matrix.

ValueTypeT normInfinity (void) const

Returns the infinity norm of this matrix.

bool sqrt (TransformationMatrix &result) const

Computes the square root of the matrix and stores it in result, assumes det > 0.

bool sqrt (void)

Sets this matrix to its square root, assumes det > 0.

bool sqrtOf (const TransformationMatrix &matrix)

Sets this matrix to the square root of the given matrix, assumes det > 0.

bool log (TransformationMatrix &result) const

Computes the logarithm of this matrix and stores it in result, assumes det > 0.

bool logOf (const TransformationMatrix &matrix)

Sets this matrix to the logarithm of the given matrix, assumes det > 0.

bool exp (TransformationMatrix &result) const

Computes the exponential of this matrix and stores it in result.

bool expOf (const TransformationMatrix &matrix)

Sets this matrix to the exponential of the given matrix.

Element Access

VectorType & operator[] (UInt32 uiIndex)

const VectorType & operator[] (UInt32 uiIndex) const

Comparison

bool operator== (const TransformationMatrix &other) const

equal, returns true if all matrix elements are equal with the tolerance of Eps

bool operator!= (const TransformationMatrix &other) const

not equal, returns true if all matrix elements are not equal with the tolerance of Eps

Static Public Member Functions

Class Get

static const TransformationMatrix & identity (void)

Protected Attributes

Storage

VectorType _matrix [4]

Value store.

Private Attributes

Real64 * _val

Detailed Description

This is a documentation wrapper. Its only purpose is to fool doxygen into thinking of a typedef as a class and to allow you to find all the needed info from this page.

Warning:: The real inheritance is not what you see here.
This is just to give you an idea of the conceptual relations and to help you understand the available methods of this class.

Definition at line 6998 of file dummyClasses.dox.

Member Typedef Documentation

template<class ValueTypeT>

osg::TransformationMatrix< ValueTypeT >::ValueType [inherited]

Definition at line 74 of file OSGMatrix.h.

template<class ValueTypeT>

VectorInterface< ValueTypeT, VecStorage4< ValueTypeT > > osg::TransformationMatrix< ValueTypeT >::VectorType [inherited]

Definition at line 76 of file OSGMatrix.h.

template<class ValueTypeT>

QuaternionBase< ValueType > osg::TransformationMatrix< ValueTypeT >::QuaternionType [inherited]

Definition at line 78 of file OSGMatrix.h.

template<class ValueTypeT>

VectorInterface< ValueTypeT, VecStorage3< ValueTypeT > > osg::TransformationMatrix< ValueTypeT >::VectorType3f [inherited]

Definition at line 81 of file OSGMatrix.h.

template<class ValueTypeT>

PointInterface< ValueTypeT, VecStorage3< ValueTypeT > > osg::TransformationMatrix< ValueTypeT >::PointType3f [inherited]

Definition at line 84 of file OSGMatrix.h.

Member Function Documentation

template<class ValueTypeT>

const TransformationMatrix< ValueTypeT > & osg::TransformationMatrix< ValueTypeT >::identity ( void ) [inline, static, inherited]

Definition at line 90 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_identityMatrix.

Referenced by osg::DisplayCalibration::createCMViewports(), osg::DisplayFilterForeground::DisplayFilterGroup::DisplayFilterGroup(), and osg::Navigator::getMatrix().

00091 {
00092     return _identityMatrix;
00093 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setIdentity ( void ) [inline, inherited]

Definition at line 181 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::PointInterface< ValueTypeT, StorageInterfaceT >::setNull().

00182 {
00183     for(UInt32 i = 0; i < 4; i++)
00184     {
00185         _matrix[i].setNull();
00186         _matrix[i][i] = TypeTraits<ValueType>::getOneElement();
00187     }
00188 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValue ( const TransformationMatrix< ValueTypeT > & mat ) [inline, inherited]

Definition at line 191 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

Referenced by osg::DisplayCalibration::createCMViewports(), osg::TransformationMatrix< ValueTypeT >::factor(), osg::osg::FieldDataTraits< Matrix4d >::getFromString(), osg::osg::FieldDataTraits< Matrix >::getFromString(), osg::ProjectionCameraDecorator::getProjectionTranslation(), osg::TransformationMatrix< ValueTypeT >::log(), osg::TransformationMatrix< ValueTypeT >::logOf(), osg::MatrixLookAt(), osg::TransformationMatrix< ValueTypeT >::setValue(), osg::TransformationMatrix< ValueTypeT >::sqrt(), and osg::TransformationMatrix< ValueTypeT >::sqrtOf().

00193 {
00194     for(UInt32 i = 0; i < 4; i++)
00195     {
00196         _matrix[i] = mat._matrix[i];
00197     }
00198 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValue	(	const VectorType3f &	vector1,
		const VectorType3f &	vector2,
		const VectorType3f &	vector3
	)			`[inline, inherited]`

Definition at line 201 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::PointInterface< ValueTypeT, StorageInterfaceT >::setValue().

00204 {
00205     _matrix[0].setValue(vector1);
00206     _matrix[1].setValue(vector2);
00207     _matrix[2].setValue(vector3);
00208 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValue	(	const VectorType3f &	vector1,
		const VectorType3f &	vector2,
		const VectorType3f &	vector3,
		const VectorType3f &	vector4
	)			`[inline, inherited]`

Definition at line 211 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::PointInterface< ValueTypeT, StorageInterfaceT >::setValue().

00215 {
00216     _matrix[0].setValue(vector1);
00217     _matrix[1].setValue(vector2);
00218     _matrix[2].setValue(vector3);
00219     _matrix[3].setValue(vector4);
00220 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValue	(	const ValueTypeT	rVal00,
		const ValueTypeT	rVal10,
		const ValueTypeT	rVal20,
		const ValueTypeT	rVal30,
		const ValueTypeT	rVal01,
		const ValueTypeT	rVal11,
		const ValueTypeT	rVal21,
		const ValueTypeT	rVal31,
		const ValueTypeT	rVal02,
		const ValueTypeT	rVal12,
		const ValueTypeT	rVal22,
		const ValueTypeT	rVal32,
		const ValueTypeT	rVal03,
		const ValueTypeT	rVal13,
		const ValueTypeT	rVal23,
		const ValueTypeT	rVal33
	)			`[inline, inherited]`

Definition at line 223 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

00242 {
00243     _matrix[0].setValues(rVal00, rVal01, rVal02, rVal03);
00244     _matrix[1].setValues(rVal10, rVal11, rVal12, rVal13);
00245     _matrix[2].setValues(rVal20, rVal21, rVal22, rVal23);
00246     _matrix[3].setValues(rVal30, rVal31, rVal32, rVal33);
00247 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValue	(	const ValueTypeT *	pMat,
		bool	bTransposed = `true`
	)			`[inline, inherited]`

Definition at line 280 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::PointInterface< ValueTypeT, StorageInterfaceT >::setValue().

00282 {
00283     const ValueTypeT *pTmpMat = pMat;
00284 
00285     if(bTransposed == true)
00286     {
00287         for(UInt32 i = 0; i < 4; i++)
00288         {
00289             _matrix[i].setValue(pTmpMat);
00290 
00291             pTmpMat += 4;
00292         }
00293     }
00294     else
00295     {
00296         for(UInt32 i = 0; i < 4; i++)
00297         {
00298             for(UInt32 j = 0; j < 4; j++)
00299             {
00300                 _matrix[i][j] = pTmpMat[j * 4 + i];
00301             }
00302         }
00303     }
00304 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValue ( const VectorType * pMat ) [inline, inherited]

Set value from an VectorType3f array, be shure the sizes match.

Definition at line 309 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

00310 {
00311     for(UInt32 i = 0; i < 4; i++)
00312     {
00313         _matrix[i] = pMat[i];
00314     }
00315 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValue ( const VectorType3f * pMat ) [inherited]

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValue	(	const Char8 *	string,
		bool	bTransposed = `true`
	)			`[inline, inherited]`

Definition at line 337 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::setIdentity(), osg::TransformationMatrix< ValueTypeT >::setValue(), and osg::TransformationMatrix< ValueTypeT >::setValueTransposed().

00339 {
00340     UInt32 i;
00341     UInt32 numOfToken = 16;
00342     
00343     Char8 *c = const_cast<char*>(str);
00344 
00345     Char8 *tokenC = 0;
00346     Char8  token[256];
00347 
00348     ValueTypeT vec[16];
00349     
00350     if( (str  == NULL) ||
00351         (*str == '\0') )
00352     {
00353         setIdentity();
00354         return;
00355     }
00356     
00357     for(i = 0; i < numOfToken; c++)
00358     {
00359         switch (*c)
00360         {
00361             case '\0':
00362                 if (tokenC)
00363                 {
00364                     *tokenC   = 0;
00365                      vec[i++] = TypeTraits<ValueTypeT>::getFromString(token);
00366 
00367                 }
00368 
00369                 while (i < numOfToken)
00370                 {
00371                     vec[i++] = TypeTraits<ValueTypeT>::getZeroElement();
00372                 }
00373 
00374                 break;
00375             case ' ':
00376             case '\t':
00377             case '\n':
00378             case ',':
00379                 if (tokenC)
00380                 {
00381                     *tokenC   = 0;
00382                      vec[i++] = TypeTraits<ValueTypeT>::getFromString(token);
00383                      tokenC   = 0;
00384                 }
00385                 break;
00386             default:
00387                 if (!tokenC)
00388                 {
00389                     tokenC = token;
00390                 }
00391                 *tokenC++ = *c;
00392                 break;
00393         }
00394     }
00395 
00396     if(bTransposed == true)
00397     {
00398         setValueTransposed(vec[0],  vec[1],  vec[2],  vec[3],
00399                            vec[4],  vec[5],  vec[6],  vec[7],
00400                            vec[8],  vec[9],  vec[10], vec[11],
00401                            vec[12], vec[13], vec[14], vec[15]);
00402     }
00403     else
00404     {
00405         setValue(vec[0],  vec[1],  vec[2],  vec[3],
00406                  vec[4],  vec[5],  vec[6],  vec[7],
00407                  vec[8],  vec[9],  vec[10], vec[11],
00408                  vec[12], vec[13], vec[14], vec[15]);
00409     }
00410 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setValueTransposed	(	const ValueTypeT	rVal00,
		const ValueTypeT	rVal01,
		const ValueTypeT	rVal02,
		const ValueTypeT	rVal03,
		const ValueTypeT	rVal10,
		const ValueTypeT	rVal11,
		const ValueTypeT	rVal12,
		const ValueTypeT	rVal13,
		const ValueTypeT	rVal20,
		const ValueTypeT	rVal21,
		const ValueTypeT	rVal22,
		const ValueTypeT	rVal23,
		const ValueTypeT	rVal30,
		const ValueTypeT	rVal31,
		const ValueTypeT	rVal32,
		const ValueTypeT	rVal33
	)			`[inline, inherited]`

Definition at line 250 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

Referenced by osg::MatrixFrustum(), osg::MatrixOrthogonal(), osg::TransformationMatrix< ValueTypeT >::setValue(), osg::TransformationMatrix< ValueTypeT >::transposed(), and osg::TransformationMatrix< ValueTypeT >::transposeFrom().

00270 {
00271     _matrix[0].setValues(rVal00, rVal01, rVal02, rVal03);
00272     _matrix[1].setValues(rVal10, rVal11, rVal12, rVal13);
00273     _matrix[2].setValues(rVal20, rVal21, rVal22, rVal23);
00274     _matrix[3].setValues(rVal30, rVal31, rVal32, rVal33);
00275 }

template<class ValueTypeT>

ValueTypeT * osg::TransformationMatrix< ValueTypeT >::getValues ( void ) [inline, inherited]

Definition at line 418 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::PointInterface< ValueTypeT, StorageInterfaceT >::getValues().

Referenced by osg::TextureTransformChunk::activate(), osg::TextureChunk::activate(), osg::ClipPlaneChunk::activate(), osg::TextureTransformChunk::changeFrom(), osg::TextureChunk::changeFrom(), osg::ClipPlaneChunk::changeFrom(), changeGenFunc(), osg::SkyBackground::clear(), osg::PolygonBackground::clear(), osg::RenderAction::draw(), osg::PolygonForeground::draw(), osg::ScreenGroup::drawEnter(), osg::Light::drawEnter(), osg::InverseTransform::drawEnter(), osg::Billboard::drawEnter(), osg::RenderAction::drawHierarchicalMultiFrameOcclusionBB(), osg::RenderAction::drawMultiFrameOcclusionBB(), osg::osg::FieldDataTraits< Matrix4d >::putToString(), osg::osg::FieldDataTraits< Matrix >::putToString(), setGenFunc(), osg::Camera::setup(), osg::Camera::setupProjection(), osg::SHLChunk::updateCameraOrientation(), osg::SHLChunk::updateInvViewMatrix(), osg::SHLChunk::updateInvWorldMatrix(), osg::SHLChunk::updateTransInvWorldMatrix(), osg::SHLChunk::updateViewMatrix(), and osg::SHLChunk::updateWorldMatrix().

00419 {
00420     return _matrix[0].getValues();
00421 }

template<class ValueTypeT>

const ValueTypeT * osg::TransformationMatrix< ValueTypeT >::getValues ( void ) const [inline, inherited]

Definition at line 424 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::PointInterface< ValueTypeT, StorageInterfaceT >::getValues().

00425 {
00426     return _matrix[0].getValues();
00427 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setScale ( const ValueTypeT s ) [inline, inherited]

Definition at line 435 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

Referenced by osg::TextureChunk::activate(), osg::ScreenGroup::adjustVolume(), osg::ScreenGroup::calcMatrix(), osg::TextureChunk::changeFrom(), and osg::DisplayFilterForeground::draw().

00436 {
00437     _matrix[0][0] = s;
00438     _matrix[1][1] = s;
00439     _matrix[2][2] = s;
00440 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setScale	(	const ValueTypeT	sx,
		const ValueTypeT	sy,
		const ValueTypeT	sz
	)			`[inline, inherited]`

Definition at line 445 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

00448 {
00449     _matrix[0][0] = sx;
00450     _matrix[1][1] = sy;
00451     _matrix[2][2] = sz;
00452 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setScale ( const VectorType3f & s ) [inline, inherited]

Definition at line 457 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

00458 {
00459     _matrix[0][0] = s[0];
00460     _matrix[1][1] = s[1];
00461     _matrix[2][2] = s[2];
00462 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTranslate	(	const ValueTypeT	tx,
		const ValueTypeT	ty,
		const ValueTypeT	tz
	)			`[inline, inherited]`

Definition at line 467 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

Referenced by osg::TextureChunk::activate(), osg::ScreenGroup::calcMatrix(), osg::TextureChunk::changeFrom(), osg::FlyNavigator::forward(), osg::TransformationMatrix< ValueTypeT >::getTransform(), osg::MatrixLookAt(), osg::FlyNavigator::right(), osg::FlyNavigator::rotate(), osg::TrackballNavigator::translateXY(), and osg::TrackballNavigator::updateFinalMatrix().

00470 {
00471     _matrix[3][0] = tx;
00472     _matrix[3][1] = ty;
00473     _matrix[3][2] = tz;
00474 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTranslate ( const VectorType3f & t ) [inline, inherited]

Definition at line 479 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::PointInterface< ValueTypeT, StorageInterfaceT >::setValue().

00480 {
00481     _matrix[3].setValue(t);
00482 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTranslate ( const PointType3f & t ) [inline, inherited]

Definition at line 487 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::PointInterface< ValueTypeT, StorageInterfaceT >::setValue().

00488 {
00489     _matrix[3].setValue(t);
00490 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setRotate ( const QuaternionType & q ) [inline, inherited]

Definition at line 495 of file OSGMatrix.inl.

References osg::QuaternionBase< ValueTypeT >::getValuesOnly().

Referenced by osg::Trackball::updatePosition(), and osg::Trackball::updatePositionNeg().

00496 {
00497     q.getValuesOnly(*this);
00498 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTransform ( const VectorType3f & t ) [inline, inherited]

Definition at line 503 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::TransformationMatrix< ValueTypeT >::setIdentity().

Referenced by osg::Billboard::calcMatrix(), osg::ComponentTransform::changed(), osg::VRMLTextureTransformDesc::endNode(), and osg::makeSphereGeo().

00504 {
00505     setIdentity();
00506 
00507     _matrix[3][0] = t[0];
00508     _matrix[3][1] = t[1];
00509     _matrix[3][2] = t[2];
00510 
00511 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTransform ( const QuaternionType & r ) [inline, inherited]

Definition at line 516 of file OSGMatrix.inl.

References osg::QuaternionBase< ValueTypeT >::getValue().

00517 {
00518     // Calculate the 4x4 rotation matrix
00519     r.getValue(*this);
00520 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTransform	(	const VectorType3f &	t,
		const QuaternionType &	r
	)			`[inline, inherited]`

Definition at line 525 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::QuaternionBase< ValueTypeT >::getValuesOnly().

00527 {
00528     r.getValuesOnly(*this);
00529 
00530     // Calculate the resulting transformation matrix
00531     _matrix[0][3] = 0.0;
00532     _matrix[1][3] = 0.0;
00533     _matrix[2][3] = 0.0;
00534 
00535     _matrix[3][0] = t[0];
00536     _matrix[3][1] = t[1];
00537     _matrix[3][2] = t[2];
00538     _matrix[3][3] = 1.0;
00539 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTransform	(	const VectorType3f &	t,
		const QuaternionType &	r,
		const VectorType3f &	s
	)			`[inline, inherited]`

Definition at line 544 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and osg::QuaternionBase< ValueTypeT >::getValuesOnly().

00547 {
00548     // Calculate the 3x3 rotation matrix
00549     r.getValuesOnly(*this);
00550 
00551     // Calculate the resulting transformation matrix
00552     _matrix[0][0] *= s[0]; _matrix[0][1] *= s[0]; _matrix[0][2] *=s[0];
00553     _matrix[1][0] *= s[1]; _matrix[1][1] *= s[1]; _matrix[1][2] *=s[1];
00554     _matrix[2][0] *= s[2]; _matrix[2][1] *= s[2]; _matrix[2][2] *=s[2];
00555 
00556     _matrix[0][3] = 0.0;
00557     _matrix[1][3] = 0.0;
00558     _matrix[2][3] = 0.0;
00559 
00560     _matrix[3][0] = t[0];
00561     _matrix[3][1] = t[1];
00562     _matrix[3][2] = t[2];
00563     _matrix[3][3] = 1.0;
00564 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTransform	(	const VectorType3f &	t,
		const QuaternionType &	r,
		const VectorType3f &	s,
		const QuaternionType &	so
	)			`[inline, inherited]`

Definition at line 569 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, osg::QuaternionBase< ValueTypeT >::getValue(), osg::QuaternionBase< ValueTypeT >::invert(), and osg::QuaternionBase< ValueTypeT >::mult().

00573 {
00574     Matrix tmpMat1;
00575     Matrix tmpMat2;
00576 
00577     // Concatenate the rotations r and so
00578     QuaternionType rg(r);
00579     rg.mult(so);
00580 
00581     // Calculate the inverse of so
00582     QuaternionType soi(so);
00583     soi.invert();
00584 
00585     // Calculate the 3x3 rotation matrix
00586     rg. getValue(tmpMat1);
00587     soi.getValue(tmpMat2);
00588 
00589     // Calculate the resulting transformation matrix
00590     tmpMat1[0][0] *= s[0]; tmpMat1[0][1] *= s[0]; tmpMat1[0][2] *=s[0];
00591     tmpMat1[1][0] *= s[1]; tmpMat1[1][1] *= s[1]; tmpMat1[1][2] *=s[1];
00592     tmpMat1[2][0] *= s[2]; tmpMat1[2][1] *= s[2]; tmpMat1[2][2] *=s[2];
00593 
00594     _matrix[0][0] =
00595         tmpMat2[0][0] * tmpMat1[0][0] +
00596         tmpMat2[0][1] * tmpMat1[1][0] +
00597         tmpMat2[0][2] * tmpMat1[2][0];
00598 
00599     _matrix[0][1] =
00600         tmpMat2[0][0] * tmpMat1[0][1] +
00601         tmpMat2[0][1] * tmpMat1[1][1] +
00602         tmpMat2[0][2] * tmpMat1[2][1];
00603 
00604     _matrix[0][2] =
00605         tmpMat2[0][0] * tmpMat1[0][2] +
00606         tmpMat2[0][1] * tmpMat1[1][2] +
00607         tmpMat2[0][2] * tmpMat1[2][2];
00608 
00609     _matrix[0][3] = 0.0;
00610 
00611 
00612     _matrix[1][0] =
00613         tmpMat2[1][0] * tmpMat1[0][0] +
00614         tmpMat2[1][1] * tmpMat1[1][0] +
00615         tmpMat2[1][2] * tmpMat1[2][0];
00616 
00617     _matrix[1][1] =
00618         tmpMat2[1][0] * tmpMat1[0][1] +
00619         tmpMat2[1][1] * tmpMat1[1][1] +
00620         tmpMat2[1][2] * tmpMat1[2][1];
00621 
00622     _matrix[1][2] =
00623         tmpMat2[1][0] * tmpMat1[0][2] +
00624         tmpMat2[1][1] * tmpMat1[1][2] +
00625         tmpMat2[1][2] * tmpMat1[2][2];
00626 
00627     _matrix[1][3] = 0.0;
00628 
00629 
00630     _matrix[2][0] =
00631         tmpMat2[2][0] * tmpMat1[0][0] +
00632         tmpMat2[2][1] * tmpMat1[1][0] +
00633         tmpMat2[2][2] * tmpMat1[2][0];
00634 
00635     _matrix[2][1] =
00636         tmpMat2[2][0] * tmpMat1[0][1] +
00637         tmpMat2[2][1] * tmpMat1[1][1] +
00638         tmpMat2[2][2] * tmpMat1[2][1];
00639 
00640     _matrix[2][2] =
00641         tmpMat2[2][0] * tmpMat1[0][2] +
00642         tmpMat2[2][1] * tmpMat1[1][2] +
00643         tmpMat2[2][2] * tmpMat1[2][2];
00644 
00645     _matrix[2][3] = 0.0;
00646 
00647     _matrix[3][0] = t[0];
00648     _matrix[3][1] = t[1];
00649     _matrix[3][2] = t[2];
00650     _matrix[3][3] = 1.0;
00651 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::setTransform	(	const VectorType3f &	translation,
		const QuaternionType &	rotation,
		const VectorType3f &	scaleFactor,
		const QuaternionType &	scaleOrientation,
		const VectorType3f &	center
	)			`[inline, inherited]`

Composes the matrix based on a translation, rotation, scale, orientation for scale, and center. The "center" is the center point for scaling and rotation. The "scaleOrientation" chooses the primary axes for the scale.

Definition at line 660 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, osg::QuaternionBase< ValueTypeT >::getValue(), and osg::QuaternionBase< ValueTypeT >::invert().

00666 {
00667     Matrix tmpMat1;
00668     Matrix tmpMat2;
00669 
00670     // Concatenate the translations t and c
00671     VectorType3f tg(translation);
00672     tg += center;
00673 
00674     // Concatenate the rotations r and so
00675     QuaternionType rg(rotation);
00676     rg *= scaleOrientation;
00677 
00678     // Calculate the inverse of so
00679     QuaternionType soi(scaleOrientation);
00680     soi.invert();
00681 
00682     // Calculate the 3x3 rotation matrix
00683     rg. getValue(tmpMat1);
00684     soi.getValue(tmpMat2);
00685 
00686     // Calculate the resulting transformation matrix
00687 
00688     tmpMat1[0][0] *= scaleFactor[0];
00689     tmpMat1[0][1] *= scaleFactor[0];
00690     tmpMat1[0][2] *= scaleFactor[0];
00691 
00692     tmpMat1[1][0] *= scaleFactor[1];
00693     tmpMat1[1][1] *= scaleFactor[1];
00694     tmpMat1[1][2] *= scaleFactor[1];
00695 
00696     tmpMat1[2][0] *= scaleFactor[2];
00697     tmpMat1[2][1] *= scaleFactor[2];
00698     tmpMat1[2][2] *= scaleFactor[2];
00699 
00700     _matrix[0][0] =
00701         tmpMat2[0][0] * tmpMat1[0][0] +
00702         tmpMat2[0][1] * tmpMat1[1][0] +
00703         tmpMat2[0][2] * tmpMat1[2][0];
00704 
00705     _matrix[0][1] =
00706         tmpMat2[0][0] * tmpMat1[0][1] +
00707         tmpMat2[0][1] * tmpMat1[1][1] +
00708         tmpMat2[0][2] * tmpMat1[2][1];
00709 
00710     _matrix[0][2] =
00711         tmpMat2[0][0] * tmpMat1[0][2] +
00712         tmpMat2[0][1] * tmpMat1[1][2] +
00713         tmpMat2[0][2] * tmpMat1[2][2];
00714 
00715     _matrix[0][3] = 0.0;
00716 
00717 
00718     _matrix[1][0] =
00719         tmpMat2[1][0] * tmpMat1[0][0] +
00720         tmpMat2[1][1] * tmpMat1[1][0] +
00721         tmpMat2[1][2] * tmpMat1[2][0];
00722 
00723     _matrix[1][1] =
00724         tmpMat2[1][0] * tmpMat1[0][1] +
00725         tmpMat2[1][1] * tmpMat1[1][1] +
00726         tmpMat2[1][2] * tmpMat1[2][1];
00727 
00728     _matrix[1][2] =
00729         tmpMat2[1][0] * tmpMat1[0][2] +
00730         tmpMat2[1][1] * tmpMat1[1][2] +
00731         tmpMat2[1][2] * tmpMat1[2][2];
00732 
00733     _matrix[1][3] = 0.0;
00734 
00735 
00736     _matrix[2][0] =
00737         tmpMat2[2][0] * tmpMat1[0][0] +
00738         tmpMat2[2][1] * tmpMat1[1][0] +
00739         tmpMat2[2][2] * tmpMat1[2][0];
00740 
00741     _matrix[2][1] =
00742         tmpMat2[2][0] * tmpMat1[0][1] +
00743         tmpMat2[2][1] * tmpMat1[1][1] +
00744         tmpMat2[2][2] * tmpMat1[2][1];
00745 
00746     _matrix[2][2] =
00747         tmpMat2[2][0] * tmpMat1[0][2] +
00748         tmpMat2[2][1] * tmpMat1[1][2] +
00749         tmpMat2[2][2] * tmpMat1[2][2];
00750 
00751     _matrix[2][3] = 0.0;
00752 
00753 
00754     _matrix[3][0] =
00755         _matrix[0][0] * -center[0] +
00756         _matrix[1][0] * -center[1] +
00757         _matrix[2][0] * -center[2] + tg[0];
00758 
00759     _matrix[3][1] =
00760         _matrix[0][1] * -center[0] +
00761         _matrix[1][1] * -center[1] +
00762         _matrix[2][1] * -center[2] + tg[1];
00763 
00764     _matrix[3][2] =
00765         _matrix[0][2] * -center[0] +
00766         _matrix[1][2] * -center[1] +
00767         _matrix[2][2] * -center[2] + tg[2];
00768 
00769     _matrix[3][3] = 1.0;
00770 
00771 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::getTransform	(	VectorType3f &	translation,
		QuaternionType &	rotation,
		VectorType3f &	scaleFactor,
		QuaternionType &	scaleOrientation,
		const VectorType3f &	center
	)			const `[inline, inherited]`

Definition at line 786 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::getTransform(), osg::TransformationMatrix< ValueTypeT >::mult(), and osg::TransformationMatrix< ValueTypeT >::setTranslate().

Referenced by osg::Slicer::getSlicingDirection(), osg::TransformationMatrix< ValueTypeT >::getTransform(), osg::Slicer::rotateToLocal(), and osg::VRMLWriteAction::writeTransformEnter().

00792 {
00793     TransformationMatrix m;
00794     TransformationMatrix c;
00795 
00796     m.setTranslate(-center);
00797 
00798     m.mult(*this);
00799 
00800     c.setTranslate(center);
00801 
00802     m.mult(c);
00803 
00804     m.getTransform(translation, rotation, scaleFactor, scaleOrientation);
00805 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::getTransform	(	VectorType3f &	translation,
		QuaternionType &	rotation,
		VectorType3f &	scaleFactor,
		QuaternionType &	scaleOrientation
	)			const `[inline, inherited]`

Definition at line 810 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::factor(), osg::QuaternionBase< ValueTypeT >::setValue(), and osg::TransformationMatrix< ValueTypeT >::transpose().

00815 {
00816     TransformationMatrix so;
00817     TransformationMatrix rot;
00818     TransformationMatrix proj;
00819 
00820     this->factor(so, scaleFactor, rot, translation, proj);
00821     
00822     so.transpose();
00823     scaleOrientation.setValue(so);
00824 
00825     // gives us transpose of correct answer.
00826     rotation.setValue(rot);
00827 
00828 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::factor	(	TransformationMatrix< ValueTypeT > &	r,
		VectorType3f &	s,
		TransformationMatrix< ValueTypeT > &	u,
		VectorType3f &	t,
		TransformationMatrix< ValueTypeT > &	proj
	)			const `[inline, inherited]`

Definition at line 837 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, osg::TransformationMatrix< ValueTypeT >::det(), osg::TransformationMatrix< ValueTypeT >::det3(), osg::TransformationMatrix< ValueTypeT >::jacobi(), osg::TransformationMatrix< ValueTypeT >::mult(), osg::osgsqrt(), rT, osg::TransformationMatrix< ValueTypeT >::setIdentity(), osg::TransformationMatrix< ValueTypeT >::setValue(), and osg::TransformationMatrix< ValueTypeT >::transposeFrom().

Referenced by osg::TransformationMatrix< ValueTypeT >::getTransform().

00842 {
00843     Real64               det;       
00844     Real64               det_sign;   
00845     Real64               scratch;
00846     Int32                i;
00847     Int32                j;
00848     Int32                junk;
00849     TransformationMatrix a;
00850     TransformationMatrix aT;
00851     TransformationMatrix rT;
00852     TransformationMatrix b;
00853     TransformationMatrix si;
00854     ValueTypeT           evalues [3];
00855     VectorType3f         evectors[3];
00856     
00857     a = *this;
00858 
00859     proj.setIdentity();
00860 
00861     scratch = 1.0;
00862     
00863     for (i = 0; i < 3; i++) 
00864     {
00865         for (j = 0; j < 3; j++) 
00866         {
00867             a._matrix[i][j] *= ValueTypeT(scratch);
00868         }
00869 
00870         t[i] = _matrix[3][i] * ValueTypeT(scratch);
00871 
00872         a._matrix[3][i] = a._matrix[i][3] = 0.0;
00873     }
00874 
00875     a._matrix[3][3] = 1.0;
00876     
00877     /* (3) Compute det A. If negative, set sign = -1, else sign = 1 */
00878 
00879     det      = a.det3();
00880 
00881     det_sign = (det < 0.0 ? -1.0 : 1.0);
00882 
00883     if(det_sign * det < 1e-12)
00884         return false;      // singular
00885     
00886     /* (4) B = A * A^  (here A^ means A transpose) */
00887     
00888     aT.transposeFrom(a);
00889     b = a;
00890     b.mult(aT);
00891     
00892     b.jacobi(evalues, evectors, junk);
00893     
00894     r.setValue(evectors[0][0], evectors[0][1], evectors[0][2], 0.0, 
00895                evectors[1][0], evectors[1][1], evectors[1][2], 0.0, 
00896                evectors[2][0], evectors[2][1], evectors[2][2], 0.0, 
00897                           0.0,            0.0,            0.0, 1.0);
00898     
00899     /* Compute s = sqrt(evalues), with sign. Set si = s-inverse */
00900 
00901     si.setIdentity();
00902 
00903     for(i = 0; i < 3; i++) 
00904     {
00905         s[i] = ValueTypeT(det_sign * osgsqrt(evalues[i]));
00906 
00907         si._matrix[i][i] = 1.0f / s[i];
00908     }
00909     
00910     /* (5) Compute U = RT S! R A. */
00911 
00912     rT.transposeFrom(r);
00913     u = r;
00914     u.mult(si);
00915     u.mult(rT);
00916     u.mult(a);
00917     
00918     return true;
00919 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multMatrixPnt	(	const PointType3f &	src,
		PointType3f &	dst
	)			const `[inline, inherited]`

Definition at line 928 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

Referenced by osg::FlyNavigator::forward(), osg::DVRClipGeometry::initialize(), osg::TransformationMatrix< ValueTypeT >::mult(), osg::TransformationMatrix< ValueTypeT >::multMatrixPnt(), osg::FlyNavigator::right(), osg::BrickSet::sortBricks3D(), and osg::OBJSceneFileType::write().

00931 {
00932     dst.setValues((src[0] * _matrix[0][0] +
00933                    src[1] * _matrix[1][0] +
00934                    src[2] * _matrix[2][0] +
00935                             _matrix[3][0]),
00936                   (src[0] * _matrix[0][1] +
00937                    src[1] * _matrix[1][1] +
00938                    src[2] * _matrix[2][1] +
00939                             _matrix[3][1]),
00940                   (src[0] * _matrix[0][2] +
00941                    src[1] * _matrix[1][2] +
00942                    src[2] * _matrix[2][2] +
00943                             _matrix[3][2]));
00944 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multMatrixPnt ( PointType3f & pnt ) const [inline, inherited]

Definition at line 949 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multMatrixPnt().

00950 {
00951     multMatrixPnt(pnt, pnt);
00952 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multFullMatrixPnt	(	const PointType3f &	src,
		PointType3f &	dst
	)			const `[inline, inherited]`

Definition at line 959 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, and SINFO.

Referenced by osg::Navigator::calcDeltas(), osg::ScreenGroup::calcMatrix(), osg::Camera::calcViewRay(), osg::DVRIsoShader::getCoveredScreenRect(), osg::Navigator::getIntersectionPoint(), osg::ImageComposer::getScreenAlignedBBox(), osg::Transform::intersectActorEnter(), osg::Transform::intersectActorLeave(), osg::Transform::intersectEnter(), osg::ScreenGroup::intersectEnter(), osg::InverseTransform::intersectEnter(), osg::Billboard::intersectEnter(), osg::Transform::intersectLeave(), osg::ScreenGroup::intersectLeave(), osg::InverseTransform::intersectLeave(), osg::Billboard::intersectLeave(), osg::RenderAction::isSmallFeature(), osg::TransformationMatrix< ValueTypeT >::multFullMatrixPnt(), and osg::TileGeometryLoad::updateView().

00962 {
00963     ValueTypeT w =  src[0] * _matrix[0][3] +
00964                     src[1] * _matrix[1][3] +
00965                     src[2] * _matrix[2][3] +
00966                              _matrix[3][3];
00967 
00968     if( w == 0.0f )
00969     {
00970         SINFO << "multFullMatrixPnt: w == 0.0f!" << std::endl;
00971 
00972         dst.setValues(0, 0, 0);
00973 
00974         return;
00975     }
00976 
00977     //CHECK
00978     w = ValueTypeT(1.)/w;
00979     dst.setValues((src[0] * _matrix[0][0] +
00980                    src[1] * _matrix[1][0] +
00981                    src[2] * _matrix[2][0] +
00982                             _matrix[3][0]) * w,
00983                   (src[0] * _matrix[0][1] +
00984                    src[1] * _matrix[1][1] +
00985                    src[2] * _matrix[2][1] +
00986                             _matrix[3][1]) * w,
00987                   (src[0] * _matrix[0][2] +
00988                    src[1] * _matrix[1][2] +
00989                    src[2] * _matrix[2][2] +
00990                             _matrix[3][2]) * w);
00991 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multFullMatrixPnt ( PointType3f & pnt ) const [inline, inherited]

Definition at line 996 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multFullMatrixPnt().

00997 {
00998     multFullMatrixPnt(pnt, pnt);
00999 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multMatrixVec	(	const VectorType3f &	src,
		VectorType3f &	dst
	)			const `[inline, inherited]`

Definition at line 1006 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

Referenced by osg::Navigator::calcDeltas(), osg::Slices::drawPrimitives(), osg::DVRClipGeometry::initialize(), osg::Transform::intersectActorEnter(), osg::Transform::intersectActorLeave(), osg::Transform::intersectEnter(), osg::ScreenGroup::intersectEnter(), osg::InverseTransform::intersectEnter(), osg::Billboard::intersectEnter(), osg::Transform::intersectLeave(), osg::ScreenGroup::intersectLeave(), osg::InverseTransform::intersectLeave(), osg::Billboard::intersectLeave(), osg::TransformationMatrix< ValueTypeT >::mult(), osg::TransformationMatrix< ValueTypeT >::multMatrixVec(), and osg::OBJSceneFileType::write().

01009 {
01010     dst.setValues((src[0] * _matrix[0][0] +
01011                    src[1] * _matrix[1][0] +
01012                    src[2] * _matrix[2][0]),
01013                   (src[0] * _matrix[0][1] +
01014                    src[1] * _matrix[1][1] +
01015                    src[2] * _matrix[2][1]),
01016                   (src[0] * _matrix[0][2] +
01017                    src[1] * _matrix[1][2] +
01018                    src[2] * _matrix[2][2]));
01019 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multMatrixVec ( VectorType3f & vec ) const [inline, inherited]

Definition at line 1025 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multMatrixVec().

01026 {
01027     multMatrixVec(vec, vec);
01028 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multMatrixVec	(	const VectorType &	src,
		VectorType &	dst
	)			const `[inherited]`

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multMatrixVec ( VectorType & vec ) const [inherited]

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::mult	(	const PointType3f &	src,
		PointType3f &	dst
	)			const `[inline, inherited]`

Definition at line 1071 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multMatrixPnt().

Referenced by osg::Transform::accumulateMatrix(), osg::ScreenGroup::accumulateMatrix(), osg::InverseTransform::accumulateMatrix(), osg::Billboard::accumulateMatrix(), osg::ClipPlaneChunk::activate(), calcCCtoWCMatrix(), osg::Particles::calcIndex(), osg::ScreenGroup::calcMatrix(), osg::Billboard::calcMatrix(), osg::Camera::calcViewRay(), osg::ClipPlaneChunk::changeFrom(), osg::SkyBackground::clear(), osg::DVRVolume::draw(), osg::DistanceLOD::draw(), osg::Light::drawEnter(), osg::RenderAction::drawHierarchicalMultiFrameOcclusionBB(), osg::Particles::drawPrimitives(), osg::RenderAction::dropClipPlane(), osg::RenderAction::dropFunctor(), osg::RenderAction::dropGeometry(), osg::RenderAction::dropLight(), osg::TransformationMatrix< ValueTypeT >::exp(), osg::TransformationMatrix< ValueTypeT >::expOf(), osg::TransformationMatrix< ValueTypeT >::factor(), osg::Camera::getFrustum(), osg::Trackball::getFullExamineMatrix(), osg::Trackball::getFullTrackballMatrix(), osg::ShearedStereoCameraDecorator::getProjection(), osg::ProjectionCameraDecorator::getProjection(), osg::MatrixCameraDecorator::getProjection(), osg::ProjectionCameraDecorator::getProjectionTranslation(), osg::MatrixCameraDecorator::getProjectionTranslation(), osg::TransformationMatrix< ValueTypeT >::getTransform(), osg::MatrixCameraDecorator::getViewing(), osg::Camera::getWorldToScreen(), osg::DVRClipGeometry::initialize(), osg::TransformationMatrix< ValueTypeT >::log(), osg::TransformationMatrix< ValueTypeT >::logOf(), osg::makeSphereGeo(), osg::MatrixLookAt(), osg::RenderAction::push_matrix(), osg::TrackballNavigator::rotate(), osg::Camera::setup(), osg::Camera::setupProjection(), osg::SphereVolume::transform(), osg::Plane::transform(), osg::CylinderVolume::transform(), osg::TrackballNavigator::translateXY(), osg::Navigator::updateCameraTransformation(), osg::TrackballNavigator::updateFinalMatrix(), osg::Trackball::updatePosition(), osg::Trackball::updatePositionNeg(), and osg::RenderAction::updateTopMatrix().

01073 {
01074     multMatrixPnt(src, dest);
01075 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::mult ( PointType3f & vec ) const [inline, inherited]

Definition at line 1080 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multMatrixPnt().

01081 {
01082     multMatrixPnt(pnt, pnt);
01083 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::mult	(	const VectorType3f &	src,
		VectorType3f &	dst
	)			const `[inline, inherited]`

Definition at line 1090 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multMatrixVec().

01092 {
01093     multMatrixVec(src, dest);
01094 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::mult ( VectorType3f & vec ) const [inline, inherited]

Definition at line 1099 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multMatrixVec().

01100 {
01101     multMatrixVec(vec, vec);
01102 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::mult ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 1804 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::rowMulCol4().

01805 {
01806     ValueTypeT rTmpMat[4][4];
01807 
01808     (rTmpMat)[0][0] = rowMulCol4((*this), 0, (matrix), 0);
01809     (rTmpMat)[0][1] = rowMulCol4((*this), 1, (matrix), 0);
01810     (rTmpMat)[0][2] = rowMulCol4((*this), 2, (matrix), 0);
01811     (rTmpMat)[0][3] = rowMulCol4((*this), 3, (matrix), 0);
01812 
01813     (rTmpMat)[1][0] = rowMulCol4((*this), 0, (matrix), 1);
01814     (rTmpMat)[1][1] = rowMulCol4((*this), 1, (matrix), 1);
01815     (rTmpMat)[1][2] = rowMulCol4((*this), 2, (matrix), 1);
01816     (rTmpMat)[1][3] = rowMulCol4((*this), 3, (matrix), 1);
01817 
01818     (rTmpMat)[2][0] = rowMulCol4((*this), 0, (matrix), 2);
01819     (rTmpMat)[2][1] = rowMulCol4((*this), 1, (matrix), 2);
01820     (rTmpMat)[2][2] = rowMulCol4((*this), 2, (matrix), 2);
01821     (rTmpMat)[2][3] = rowMulCol4((*this), 3, (matrix), 2);
01822 
01823     (rTmpMat)[3][0] = rowMulCol4((*this), 0, (matrix), 3);
01824     (rTmpMat)[3][1] = rowMulCol4((*this), 1, (matrix), 3);
01825     (rTmpMat)[3][2] = rowMulCol4((*this), 2, (matrix), 3);
01826     (rTmpMat)[3][3] = rowMulCol4((*this), 3, (matrix), 3);
01827 
01828     _matrix[0][0] = rTmpMat[0][0];
01829     _matrix[0][1] = rTmpMat[0][1];
01830     _matrix[0][2] = rTmpMat[0][2];
01831     _matrix[0][3] = rTmpMat[0][3];
01832 
01833     _matrix[1][0] = rTmpMat[1][0];
01834     _matrix[1][1] = rTmpMat[1][1];
01835     _matrix[1][2] = rTmpMat[1][2];
01836     _matrix[1][3] = rTmpMat[1][3];
01837 
01838     _matrix[2][0] = rTmpMat[2][0];
01839     _matrix[2][1] = rTmpMat[2][1];
01840     _matrix[2][2] = rTmpMat[2][2];
01841     _matrix[2][3] = rTmpMat[2][3];
01842 
01843     _matrix[3][0] = rTmpMat[3][0];
01844     _matrix[3][1] = rTmpMat[3][1];
01845     _matrix[3][2] = rTmpMat[3][2];
01846     _matrix[3][3] = rTmpMat[3][3];
01847 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multPntMatrix	(	const PointType3f &	src,
		PointType3f &	dst
	)			const `[inline, inherited]`

Definition at line 1111 of file OSGMatrix.inl.

Referenced by osg::TransformationMatrix< ValueTypeT >::multPntMatrix().

01114 {
01115     dst.setValues((src[0] * _matrix[0][0] +
01116                    src[1] * _matrix[0][1] +
01117                    src[2] * _matrix[0][2] +
01118                             _matrix[0][3]),
01119                   (src[0] * _matrix[1][0] +
01120                    src[1] * _matrix[1][1] +
01121                    src[2] * _matrix[1][2] +
01122                             _matrix[1][3]),
01123                   (src[0] * _matrix[2][0] +
01124                    src[1] * _matrix[2][1] +
01125                    src[2] * _matrix[2][2] +
01126                             _matrix[2][3]));
01127 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multPntMatrix ( PointType3f & pnt ) const [inline, inherited]

Definition at line 1132 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multPntMatrix().

01133 {
01134     multPntMatrix(pnt, pnt);
01135 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multPntFullMatrix	(	const PointType3f &	src,
		PointType3f &	dst
	)			const `[inline, inherited]`

Definition at line 1142 of file OSGMatrix.inl.

References SINFO.

Referenced by osg::DVRVertex::calculatePlaneDistance(), and osg::TransformationMatrix< ValueTypeT >::multPntFullMatrix().

01145 {
01146     ValueTypeT w =  src[0] * _matrix[3][0] +
01147                     src[1] * _matrix[3][1] +
01148                     src[2] * _matrix[3][2] +
01149                              _matrix[3][3];
01150 
01151     if( w == 0.0f )
01152     {
01153         SINFO << "multFullMatrixPnt: w == 0.0f!" << std::endl;
01154 
01155         dst.setValues(0, 0, 0);
01156 
01157         return;
01158     }
01159 
01160     w = 1./w;
01161 
01162     dst.setValues((src[0] * _matrix[0][0] +
01163                    src[1] * _matrix[0][1] +
01164                    src[2] * _matrix[0][2] +
01165                             _matrix[0][3]) * w,
01166                   (src[0] * _matrix[1][0] +
01167                    src[1] * _matrix[1][1] +
01168                    src[2] * _matrix[1][2] +
01169                             _matrix[1][3]) * w,
01170                   (src[0] * _matrix[2][0] +
01171                    src[1] * _matrix[2][1] +
01172                    src[2] * _matrix[2][2] +
01173                             _matrix[2][3]) * w);
01174 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multPntFullMatrix ( PointType3f & pnt ) const [inline, inherited]

Definition at line 1179 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multPntFullMatrix().

01180 {
01181     multPntFullMatrix(pnt, pnt);
01182 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multVecMatrix	(	const VectorType3f &	src,
		VectorType3f &	dst
	)			const `[inline, inherited]`

Definition at line 1189 of file OSGMatrix.inl.

Referenced by osg::TransformationMatrix< ValueTypeT >::multVecMatrix().

01192 {
01193     dst.setValues((src[0] * _matrix[0][0] +
01194                    src[1] * _matrix[0][1] +
01195                    src[2] * _matrix[0][2]),
01196                   (src[0] * _matrix[1][0] +
01197                    src[1] * _matrix[1][1] +
01198                    src[2] * _matrix[1][2]),
01199                   (src[0] * _matrix[2][0] +
01200                    src[1] * _matrix[2][1] +
01201                    src[2] * _matrix[2][2]));
01202 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multVecMatrix ( VectorType3f & vec ) const [inline, inherited]

Definition at line 1207 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::multVecMatrix().

01208 {
01209     multVecMatrix(vec, vec);
01210 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::equals	(	const TransformationMatrix< ValueTypeT > &	matrix,
		const ValueType	tol
	)			const `[inline, inherited]`

Definition at line 1219 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

Referenced by osg::TransformChunk::operator==(), and osg::TransformationMatrix< ValueTypeT >::operator==().

01222 {
01223     UInt32 i;
01224     bool returnValue = true;
01225 
01226     for(i = 0; i < 4; i++)
01227     {
01228         returnValue &= _matrix[i].equals(matrix._matrix[i], tolerance);
01229 
01230         if(returnValue == false)
01231             break;
01232     }
01233 
01234     return returnValue;
01235 }

template<class ValueTypeT>

ValueTypeT osg::TransformationMatrix< ValueTypeT >::det3 ( void ) const [inline, inherited]

Definition at line 1240 of file OSGMatrix.inl.

Referenced by osg::TransformationMatrix< ValueTypeT >::det(), osg::TransformationMatrix< ValueTypeT >::factor(), osg::TransformationMatrix< ValueTypeT >::inverse(), osg::TransformationMatrix< ValueTypeT >::inverse3(), osg::TransformationMatrix< ValueTypeT >::invert(), osg::TransformationMatrix< ValueTypeT >::invert3(), osg::TransformationMatrix< ValueTypeT >::invertFrom(), and osg::TransformationMatrix< ValueTypeT >::invertFrom3().

01241 {
01242     return (_matrix[0][0] * _matrix[1][1] * _matrix[2][2] +
01243             _matrix[0][1] * _matrix[1][2] * _matrix[2][0] +
01244             _matrix[0][2] * _matrix[1][0] * _matrix[2][1] -
01245             _matrix[0][2] * _matrix[1][1] * _matrix[2][0] -
01246             _matrix[0][1] * _matrix[1][0] * _matrix[2][2] -
01247             _matrix[0][0] * _matrix[1][2] * _matrix[2][1]);
01248 }

template<class ValueTypeT>

ValueTypeT osg::TransformationMatrix< ValueTypeT >::det3	(	const ValueTypeT	a1,
		const ValueTypeT	a2,
		const ValueTypeT	a3,
		const ValueTypeT	b1,
		const ValueTypeT	b2,
		const ValueTypeT	b3,
		const ValueTypeT	c1,
		const ValueTypeT	c2,
		const ValueTypeT	c3
	)			const `[inline, protected, inherited]`

Definition at line 2543 of file OSGMatrix.inl.

02553 {
02554     return
02555         (a1 * b2 * c3) + (a2 * b3 * c1) + (a3 * b1 * c2) -
02556         (a1 * b3 * c2) - (a2 * b1 * c3) - (a3 * b2 * c1);
02557 }

template<class ValueTypeT>

ValueTypeT osg::TransformationMatrix< ValueTypeT >::det ( void ) const [inline, inherited]

Definition at line 1253 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::det3().

Referenced by osg::TransformationMatrix< ValueTypeT >::factor(), osg::TransformationMatrix< ValueTypeT >::inverse(), osg::TransformationMatrix< ValueTypeT >::invert(), osg::TransformationMatrix< ValueTypeT >::invertFrom(), osg::TransformationMatrix< ValueTypeT >::sqrt(), and osg::TransformationMatrix< ValueTypeT >::sqrtOf().

01254 {
01255     ValueTypeT
01256         a1, a2, a3, a4,
01257         b1, b2, b3, b4,
01258         c1, c2, c3, c4,
01259         d1, d2, d3, d4;
01260 
01261     a1 = _matrix[0][0];
01262     b1 = _matrix[1][0];
01263     c1 = _matrix[2][0];
01264     d1 = _matrix[3][0];
01265 
01266     a2 = _matrix[0][1];
01267     b2 = _matrix[1][1];
01268     c2 = _matrix[2][1];
01269     d2 = _matrix[3][1];
01270 
01271     a3 = _matrix[0][2];
01272     b3 = _matrix[1][2];
01273     c3 = _matrix[2][2];
01274     d3 = _matrix[3][2];
01275 
01276     a4 = _matrix[0][3];
01277     b4 = _matrix[1][3];
01278     c4 = _matrix[2][3];
01279     d4 = _matrix[3][3];
01280 
01281     return(   a1 * det3(b2, b3, b4, c2, c3, c4, d2, d3, d4)
01282             - b1 * det3(a2, a3, a4, c2, c3, c4, d2, d3, d4)
01283             + c1 * det3(a2, a3, a4, b2, b3, b4, d2, d3, d4)
01284             - d1 * det3(a2, a3, a4, b2, b3, b4, c2, c3, c4));
01285 
01286 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::inverse ( TransformationMatrix< ValueTypeT > & result ) const [inline, inherited]

Definition at line 1296 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::det(), osg::TransformationMatrix< ValueTypeT >::det3(), osg::osgabs(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

Referenced by osg::DVRClipGeometry::initialize(), osg::TransformationMatrix< ValueTypeT >::sqrt(), osg::TransformationMatrix< ValueTypeT >::sqrtOf(), and osg::Navigator::updateCameraTransformation().

01298 {
01299     ValueTypeT rDet;
01300 
01301     ValueTypeT
01302         a1, a2, a3, a4,
01303         b1, b2, b3, b4,
01304         c1, c2, c3, c4,
01305         d1, d2, d3, d4;
01306 
01307     a1 = _matrix[0][0];
01308     b1 = _matrix[1][0];
01309     c1 = _matrix[2][0];
01310     d1 = _matrix[3][0];
01311 
01312     a2 = _matrix[0][1];
01313     b2 = _matrix[1][1];
01314     c2 = _matrix[2][1];
01315     d2 = _matrix[3][1];
01316 
01317     a3 = _matrix[0][2];
01318     b3 = _matrix[1][2];
01319     c3 = _matrix[2][2];
01320     d3 = _matrix[3][2];
01321 
01322     a4 = _matrix[0][3];
01323     b4 = _matrix[1][3];
01324     c4 = _matrix[2][3];
01325     d4 = _matrix[3][3];
01326 
01327     rDet = det();
01328 
01329     if(osgabs(rDet) < 1E-30)
01330     {
01331 #ifdef OSG_PRINT_MATHERR
01332         fprintf(stderr, "invertMatrix: Singular matrix, no inverse!\n");
01333 #endif
01334         result.setIdentity();
01335 
01336         return false;
01337     }
01338 
01339     rDet = 1.f / rDet;
01340 
01341     result[0][0]  =   det3(b2, b3, b4, c2, c3,
01342                            c4, d2, d3, d4) * rDet;
01343     result[0][1]  = - det3(a2, a3, a4, c2, c3, c4,
01344                            d2, d3, d4) * rDet;
01345     result[0][2]  =   det3(a2, a3, a4, b2, b3, b4,
01346                            d2, d3, d4) * rDet;
01347     result[0][3]  = - det3(a2, a3, a4, b2, b3, b4,
01348                            c2, c3, c4) * rDet;
01349 
01350     result[1][0]  = - det3(b1, b3, b4, c1, c3, c4,
01351                            d1, d3, d4) * rDet;
01352     result[1][1]  =   det3(a1, a3, a4, c1, c3, c4,
01353                            d1, d3, d4) * rDet;
01354     result[1][2]  = - det3(a1, a3, a4, b1, b3, b4,
01355                            d1, d3, d4) * rDet;
01356     result[1][3]  =   det3(a1, a3, a4, b1, b3, b4,
01357                            c1, c3, c4) * rDet;
01358 
01359     result[2][0]  =   det3(b1, b2, b4, c1, c2, c4,
01360                            d1, d2, d4) * rDet;
01361     result[2][1]  = - det3(a1, a2, a4, c1, c2, c4,
01362                            d1, d2, d4) * rDet;
01363     result[2][2]  =   det3(a1, a2, a4, b1, b2, b4,
01364                            d1, d2, d4) * rDet;
01365     result[2][3]  = - det3(a1, a2, a4, b1, b2, b4,
01366                            c1, c2, c4) * rDet;
01367 
01368     result[3][0]  = - det3(b1, b2, b3, c1, c2, c3,
01369                            d1, d2, d3) * rDet;
01370     result[3][1]  =   det3(a1, a2, a3, c1, c2, c3,
01371                            d1, d2, d3) * rDet;
01372     result[3][2]  = - det3(a1, a2, a3, b1, b2, b3,
01373                            d1, d2, d3) * rDet;
01374     result[3][3]  =   det3(a1, a2, a3, b1, b2, b3,
01375                            c1, c2, c3) * rDet;
01376 
01377     return true;
01378 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::invert ( void ) [inline, inherited]

Definition at line 1385 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::det(), osg::TransformationMatrix< ValueTypeT >::det3(), osg::osgabs(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

Referenced by osg::TextureTransformChunk::activate(), osg::ClipPlaneChunk::activate(), osg::Navigator::calcDeltas(), osg::Particles::calcIndex(), osg::TextureTransformChunk::changeFrom(), osg::ClipPlaneChunk::changeFrom(), drawViewerObjects< posTrait, colTrait, sizeTrait, geoTrait >::draw(), drawViewerQuads< posTrait, colTrait, texTrait, sizeTrait >::draw(), drawViewerObjects< posTrait, colTrait, sizeTrait, geoTrait >::drawIndexed(), drawViewerQuads< posTrait, colTrait, texTrait, sizeTrait >::drawIndexed(), osg::Slices::drawPrimitives(), osg::Particles::drawPrimitives(), osg::RenderAction::dropClipPlane(), osg::RenderAction::dropLight(), osg::DVRIsoShader::getCoveredScreenRect(), osg::ProjectionCameraDecorator::getProjection(), osg::ProjectionCameraDecorator::getProjectionTranslation(), osg::Slicer::getSlicingDirection(), osg::ProjectionCameraDecorator::getViewing(), osg::Camera::getViewing(), osg::DVRClipGeometry::initialize(), osg::Transform::intersectActorEnter(), osg::Transform::intersectEnter(), osg::ScreenGroup::intersectEnter(), osg::InverseTransform::intersectEnter(), osg::Billboard::intersectEnter(), osg::RenderAction::pushVisibility(), osg::Slicer::rotateToLocal(), osg::DrawActionBase::start(), osg::SHLChunk::updateCameraOrientation(), osg::SHLChunk::updateCameraPosition(), osg::SHLChunk::updateInvViewMatrix(), osg::SHLChunk::updateInvWorldMatrix(), and osg::SHLChunk::updateTransInvWorldMatrix().

01386 {
01387     ValueTypeT           rDet;
01388     TransformationMatrix result;
01389 
01390     ValueTypeT
01391         a1, a2, a3, a4,
01392         b1, b2, b3, b4,
01393         c1, c2, c3, c4,
01394         d1, d2, d3, d4;
01395 
01396     a1 = _matrix[0][0];
01397     b1 = _matrix[1][0];
01398     c1 = _matrix[2][0];
01399     d1 = _matrix[3][0];
01400 
01401     a2 = _matrix[0][1];
01402     b2 = _matrix[1][1];
01403     c2 = _matrix[2][1];
01404     d2 = _matrix[3][1];
01405 
01406     a3 = _matrix[0][2];
01407     b3 = _matrix[1][2];
01408     c3 = _matrix[2][2];
01409     d3 = _matrix[3][2];
01410 
01411     a4 = _matrix[0][3];
01412     b4 = _matrix[1][3];
01413     c4 = _matrix[2][3];
01414     d4 = _matrix[3][3];
01415 
01416     rDet = det();
01417 
01418     if(osgabs(rDet) < 1E-30)
01419     {
01420 #ifdef OSG_PRINT_MATHERR
01421         fprintf(stderr, "invertMatrix: Singular matrix, no inverse!\n");
01422 #endif
01423         setIdentity();
01424 
01425         return false;
01426     }
01427 
01428     rDet = 1.f / rDet;
01429 
01430     result[0][0]  =   det3(b2, b3, b4, c2, c3,
01431                            c4, d2, d3, d4) * rDet;
01432     result[0][1]  = - det3(a2, a3, a4, c2, c3, c4,
01433                            d2, d3, d4) * rDet;
01434     result[0][2]  =   det3(a2, a3, a4, b2, b3, b4,
01435                            d2, d3, d4) * rDet;
01436     result[0][3]  = - det3(a2, a3, a4, b2, b3, b4,
01437                            c2, c3, c4) * rDet;
01438 
01439     result[1][0]  = - det3(b1, b3, b4, c1, c3, c4,
01440                            d1, d3, d4) * rDet;
01441     result[1][1]  =   det3(a1, a3, a4, c1, c3, c4,
01442                            d1, d3, d4) * rDet;
01443     result[1][2]  = - det3(a1, a3, a4, b1, b3, b4,
01444                            d1, d3, d4) * rDet;
01445     result[1][3]  =   det3(a1, a3, a4, b1, b3, b4,
01446                            c1, c3, c4) * rDet;
01447 
01448     result[2][0]  =   det3(b1, b2, b4, c1, c2, c4,
01449                            d1, d2, d4) * rDet;
01450     result[2][1]  = - det3(a1, a2, a4, c1, c2, c4,
01451                            d1, d2, d4) * rDet;
01452     result[2][2]  =   det3(a1, a2, a4, b1, b2, b4,
01453                            d1, d2, d4) * rDet;
01454     result[2][3]  = - det3(a1, a2, a4, b1, b2, b4,
01455                            c1, c2, c4) * rDet;
01456 
01457     result[3][0]  = - det3(b1, b2, b3, c1, c2, c3,
01458                            d1, d2, d3) * rDet;
01459     result[3][1]  =   det3(a1, a2, a3, c1, c2, c3,
01460                            d1, d2, d3) * rDet;
01461     result[3][2]  = - det3(a1, a2, a3, b1, b2, b3,
01462                            d1, d2, d3) * rDet;
01463     result[3][3]  =   det3(a1, a2, a3, b1, b2, b3,
01464                            c1, c2, c3) * rDet;
01465 
01466     *this = result;
01467 
01468     return true;
01469 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::invertFrom ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 1476 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, osg::TransformationMatrix< ValueTypeT >::det(), osg::TransformationMatrix< ValueTypeT >::det3(), osg::osgabs(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

Referenced by calcCCtoWCMatrix(), osg::InverseTransform::calcMatrix(), osg::Billboard::calcMatrix(), osg::Camera::calcViewRay(), osg::TransformationMatrix< ValueTypeT >::exp(), osg::TransformationMatrix< ValueTypeT >::expOf(), osg::InverseTransform::initMatrix(), and osg::RenderAction::start().

01478 {
01479     ValueTypeT rDet;
01480 
01481     ValueTypeT
01482         a1, a2, a3, a4,
01483         b1, b2, b3, b4,
01484         c1, c2, c3, c4,
01485         d1, d2, d3, d4;
01486 
01487     a1 = matrix._matrix[0][0];
01488     b1 = matrix._matrix[1][0];
01489     c1 = matrix._matrix[2][0];
01490     d1 = matrix._matrix[3][0];
01491 
01492     a2 = matrix._matrix[0][1];
01493     b2 = matrix._matrix[1][1];
01494     c2 = matrix._matrix[2][1];
01495     d2 = matrix._matrix[3][1];
01496 
01497     a3 = matrix._matrix[0][2];
01498     b3 = matrix._matrix[1][2];
01499     c3 = matrix._matrix[2][2];
01500     d3 = matrix._matrix[3][2];
01501 
01502     a4 = matrix._matrix[0][3];
01503     b4 = matrix._matrix[1][3];
01504     c4 = matrix._matrix[2][3];
01505     d4 = matrix._matrix[3][3];
01506 
01507     rDet = matrix.det();
01508 
01509     if (osgabs(rDet) < 1E-30)
01510     {
01511 #ifdef OSG_PRINT_MATHERR
01512         fprintf(stderr, "invertMatrix: Singular matrix, no inverse!\n");
01513 #endif
01514         setIdentity();
01515 
01516         return false;
01517     }
01518 
01519     rDet = 1.f / rDet;
01520 
01521     _matrix[0][0]  =   det3(b2, b3, b4, c2, c3,
01522                             c4, d2, d3, d4) * rDet;
01523     _matrix[0][1]  = - det3(a2, a3, a4, c2, c3, c4,
01524                             d2, d3, d4) * rDet;
01525     _matrix[0][2]  =   det3(a2, a3, a4, b2, b3, b4,
01526                             d2, d3, d4) * rDet;
01527     _matrix[0][3]  = - det3(a2, a3, a4, b2, b3, b4,
01528                             c2, c3, c4) * rDet;
01529 
01530     _matrix[1][0]  = - det3(b1, b3, b4, c1, c3, c4,
01531                             d1, d3, d4) * rDet;
01532     _matrix[1][1]  =   det3(a1, a3, a4, c1, c3, c4,
01533                             d1, d3, d4) * rDet;
01534     _matrix[1][2]  = - det3(a1, a3, a4, b1, b3, b4,
01535                             d1, d3, d4) * rDet;
01536     _matrix[1][3]  =   det3(a1, a3, a4, b1, b3, b4,
01537                             c1, c3, c4) * rDet;
01538 
01539     _matrix[2][0]  =   det3(b1, b2, b4, c1, c2, c4,
01540                             d1, d2, d4) * rDet;
01541     _matrix[2][1]  = - det3(a1, a2, a4, c1, c2, c4,
01542                             d1, d2, d4) * rDet;
01543     _matrix[2][2]  =   det3(a1, a2, a4, b1, b2, b4,
01544                             d1, d2, d4) * rDet;
01545     _matrix[2][3]  = - det3(a1, a2, a4, b1, b2, b4,
01546                             c1, c2, c4) * rDet;
01547 
01548     _matrix[3][0]  = - det3(b1, b2, b3, c1, c2, c3,
01549                             d1, d2, d3) * rDet;
01550     _matrix[3][1]  =   det3(a1, a2, a3, c1, c2, c3,
01551                             d1, d2, d3) * rDet;
01552     _matrix[3][2]  = - det3(a1, a2, a3, b1, b2, b3,
01553                             d1, d2, d3) * rDet;
01554     _matrix[3][3]  =   det3(a1, a2, a3, b1, b2, b3,
01555                             c1, c2, c3) * rDet;
01556 
01557     return true;
01558 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::inverse3 ( TransformationMatrix< ValueTypeT > & result ) const [inline, inherited]

Definition at line 1561 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::det2(), osg::TransformationMatrix< ValueTypeT >::det3(), osg::osgabs(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

01563 {
01564     ValueTypeT rDet = det3();
01565 
01566     if(osgabs(rDet) < 1E-20)
01567     {
01568 #ifdef OSG_PRINT_MATHERR
01569         fprintf(stderr, "inverse3: matrix singular, no inverse!\n");
01570 #endif
01571 
01572         result.setIdentity();
01573 
01574         return false;
01575     }
01576 
01577     rDet = 1.0f / rDet;
01578 
01579     result[0][0]  =   det2(_matrix[1][1],
01580                            _matrix[1][2],
01581                            _matrix[2][1],
01582                            _matrix[2][2]) * rDet;
01583     result[0][1]  = - det2(_matrix[0][1],
01584                            _matrix[0][2],
01585                            _matrix[2][1],
01586                            _matrix[2][2]) * rDet;
01587     result[0][2]  =   det2(_matrix[0][1],
01588                            _matrix[0][2],
01589                            _matrix[1][1],
01590                            _matrix[1][2]) * rDet;
01591 
01592     result[1][0]  = - det2(_matrix[1][0],
01593                            _matrix[1][2],
01594                            _matrix[2][0],
01595                            _matrix[2][2]) * rDet;
01596     result[1][1]  =   det2(_matrix[0][0],
01597                            _matrix[0][2],
01598                            _matrix[2][0],
01599                            _matrix[2][2]) * rDet;
01600     result[1][2]  = - det2(_matrix[0][0],
01601                            _matrix[0][2],
01602                            _matrix[1][0],
01603                            _matrix[1][2]) * rDet;
01604 
01605     result[2][0]  =   det2(_matrix[1][0],
01606                            _matrix[1][1],
01607                            _matrix[2][0],
01608                            _matrix[2][1]) * rDet;
01609     result[2][1]  = - det2(_matrix[0][0],
01610                            _matrix[0][1],
01611                            _matrix[2][0],
01612                            _matrix[2][1]) * rDet;
01613     result[2][2]  =   det2(_matrix[0][0],
01614                            _matrix[0][1],
01615                            _matrix[1][0],
01616                            _matrix[1][1]) * rDet;
01617 
01618     result[3][0] =
01619         result[3][1] =
01620         result[3][2] = TypeTraits<ValueType>::getZeroElement();
01621 
01622     result[3][3] = TypeTraits<ValueType>::getOneElement();
01623 
01624     return true;
01625 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::invert3 ( void ) [inline, inherited]

Definition at line 1628 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::det2(), osg::TransformationMatrix< ValueTypeT >::det3(), osg::osgabs(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

01629 {
01630     ValueTypeT           rDet    = det3();
01631     TransformationMatrix result;
01632 
01633     if(osgabs(rDet) < 1E-20)
01634     {
01635 #ifdef OSG_PRINT_MATHERR
01636         fprintf(stderr, "invert3: matrix singular, no inverse!\n");
01637 #endif
01638         result.setIdentity();
01639 
01640         return false;
01641     }
01642 
01643     rDet = 1.0f / rDet;
01644 
01645     result[0][0]  =   det2(_matrix[1][1],
01646                            _matrix[1][2],
01647                            _matrix[2][1],
01648                            _matrix[2][2]) * rDet;
01649     result[0][1]  = - det2(_matrix[0][1],
01650                            _matrix[0][2],
01651                            _matrix[2][1],
01652                            _matrix[2][2]) * rDet;
01653     result[0][2]  =   det2(_matrix[0][1],
01654                            _matrix[0][2],
01655                            _matrix[1][1],
01656                            _matrix[1][2]) * rDet;
01657 
01658     result[1][0]  = - det2(_matrix[1][0],
01659                            _matrix[1][2],
01660                            _matrix[2][0],
01661                            _matrix[2][2]) * rDet;
01662     result[1][1]  =   det2(_matrix[0][0],
01663                            _matrix[0][2],
01664                            _matrix[2][0],
01665                            _matrix[2][2]) * rDet;
01666     result[1][2]  = - det2(_matrix[0][0],
01667                            _matrix[0][2],
01668                            _matrix[1][0],
01669                            _matrix[1][2]) * rDet;
01670 
01671     result[2][0]  =   det2(_matrix[1][0],
01672                            _matrix[1][1],
01673                            _matrix[2][0],
01674                            _matrix[2][1]) * rDet;
01675     result[2][1]  = - det2(_matrix[0][0],
01676                            _matrix[0][1],
01677                            _matrix[2][0],
01678                            _matrix[2][1]) * rDet;
01679     result[2][2]  =   det2(_matrix[0][0],
01680                            _matrix[0][1],
01681                            _matrix[1][0],
01682                            _matrix[1][1]) * rDet;
01683 
01684     result[3][0] =
01685         result[3][1] =
01686         result[3][2] = TypeTraits<ValueType>::getZeroElement();
01687 
01688     result[3][3] = TypeTraits<ValueType>::getOneElement();
01689 
01690     *this = result;
01691 
01692     return true;
01693 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::invertFrom3 ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 1696 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix, osg::TransformationMatrix< ValueTypeT >::det2(), osg::TransformationMatrix< ValueTypeT >::det3(), osg::osgabs(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

01698 {
01699     ValueTypeT rDet = matrix.det3();
01700 
01701     if(osgabs(rDet) < 1E-20)
01702     {
01703 #ifdef OSG_PRINT_MATHERR
01704         fprintf(stderr, "invertFrom3: matrix singular, no inverse!\n");
01705 #endif
01706 
01707         setIdentity();
01708 
01709         return false;
01710     }
01711 
01712     rDet = 1.0f / rDet;
01713 
01714     _matrix[0][0]  =   det2(matrix._matrix[1][1],
01715                             matrix._matrix[1][2],
01716                             matrix._matrix[2][1],
01717                             matrix._matrix[2][2]) * rDet;
01718     _matrix[0][1]  = - det2(matrix._matrix[0][1],
01719                             matrix._matrix[0][2],
01720                             matrix._matrix[2][1],
01721                             matrix._matrix[2][2]) * rDet;
01722     _matrix[0][2]  =   det2(matrix._matrix[0][1],
01723                             matrix._matrix[0][2],
01724                             matrix._matrix[1][1],
01725                             matrix._matrix[1][2]) * rDet;
01726 
01727     _matrix[1][0]  = - det2(matrix._matrix[1][0],
01728                             matrix._matrix[1][2],
01729                             matrix._matrix[2][0],
01730                             matrix._matrix[2][2]) * rDet;
01731     _matrix[1][1]  =   det2(matrix._matrix[0][0],
01732                             matrix._matrix[0][2],
01733                             matrix._matrix[2][0],
01734                             matrix._matrix[2][2]) * rDet;
01735     _matrix[1][2]  = - det2(matrix._matrix[0][0],
01736                             matrix._matrix[0][2],
01737                             matrix._matrix[1][0],
01738                             matrix._matrix[1][2]) * rDet;
01739 
01740     _matrix[2][0]  =   det2(matrix._matrix[1][0],
01741                             matrix._matrix[1][1],
01742                             matrix._matrix[2][0],
01743                             matrix._matrix[2][1]) * rDet;
01744     _matrix[2][1]  = - det2(matrix._matrix[0][0],
01745                             matrix._matrix[0][1],
01746                             matrix._matrix[2][0],
01747                             matrix._matrix[2][1]) * rDet;
01748     _matrix[2][2]  =   det2(matrix._matrix[0][0],
01749                             matrix._matrix[0][1],
01750                             matrix._matrix[1][0],
01751                             matrix._matrix[1][1]) * rDet;
01752 
01753     _matrix[3][0] =
01754         _matrix[3][1] =
01755         _matrix[3][2] = TypeTraits<ValueType>::getZeroElement();
01756 
01757     _matrix[3][3] = TypeTraits<ValueType>::getOneElement();
01758 
01759     return true;
01760 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::transposed ( TransformationMatrix< ValueTypeT > & result ) const [inline, inherited]

Definition at line 1763 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::setValueTransposed().

01765 {
01766     result.setValueTransposed(
01767         (*this)[0][0], (*this)[1][0], (*this)[2][0], (*this)[3][0],
01768         (*this)[0][1], (*this)[1][1], (*this)[2][1], (*this)[3][1],
01769         (*this)[0][2], (*this)[1][2], (*this)[2][2], (*this)[3][2],
01770         (*this)[0][3], (*this)[1][3], (*this)[2][3], (*this)[3][3]);
01771 
01772     return true;
01773 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::transpose ( void ) [inline, inherited]

Definition at line 1776 of file OSGMatrix.inl.

Referenced by drawViewDirQuads< posTrait, colTrait, texTrait, sizeTrait >::draw(), drawViewDirQuads< posTrait, colTrait, texTrait, sizeTrait >::drawIndexed(), osg::TransformationMatrix< ValueTypeT >::getTransform(), osg::DVRClipGeometry::initialize(), and osg::SHLChunk::updateTransInvWorldMatrix().

01777 {
01778     ValueTypeT tmp;
01779 
01780     tmp = (*this)[1][0]; (*this)[1][0] = (*this)[0][1]; (*this)[0][1] = tmp;
01781     tmp = (*this)[2][0]; (*this)[2][0] = (*this)[0][2]; (*this)[0][2] = tmp;
01782     tmp = (*this)[3][0]; (*this)[3][0] = (*this)[0][3]; (*this)[0][3] = tmp;
01783     tmp = (*this)[2][1]; (*this)[2][1] = (*this)[1][2]; (*this)[1][2] = tmp;
01784     tmp = (*this)[3][1]; (*this)[3][1] = (*this)[1][3]; (*this)[1][3] = tmp;
01785     tmp = (*this)[3][2]; (*this)[3][2] = (*this)[2][3]; (*this)[2][3] = tmp;
01786 
01787     return true;
01788 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::transposeFrom ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 1791 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::setValueTransposed().

Referenced by osg::TransformationMatrix< ValueTypeT >::factor().

01793 {
01794     this->setValueTransposed(
01795         matrix[0][0], matrix[1][0], matrix[2][0], matrix[3][0],
01796         matrix[0][1], matrix[1][1], matrix[2][1], matrix[3][1],
01797         matrix[0][2], matrix[1][2], matrix[2][2], matrix[3][2],
01798         matrix[0][3], matrix[1][3], matrix[2][3], matrix[3][3]);
01799     
01800     return true;
01801 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::multLeft ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 1850 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::rowMulCol4().

Referenced by osg::Particles::calcIndex(), osg::ExtrusionSurface::calcTransforms(), changeGenFunc(), osg::SkyBackground::clear(), drawViewerObjects< posTrait, colTrait, sizeTrait, geoTrait >::draw(), drawViewerQuads< posTrait, colTrait, texTrait, sizeTrait >::draw(), drawViewDirQuads< posTrait, colTrait, texTrait, sizeTrait >::draw(), drawViewerObjects< posTrait, colTrait, sizeTrait, geoTrait >::drawIndexed(), drawViewerQuads< posTrait, colTrait, texTrait, sizeTrait >::drawIndexed(), drawViewDirQuads< posTrait, colTrait, texTrait, sizeTrait >::drawIndexed(), osg::Slices::drawPrimitives(), osg::TransformationMatrix< ValueTypeT >::exp(), osg::TransformationMatrix< ValueTypeT >::expOf(), osg::DVRIsoShader::getCoveredScreenRect(), osg::TileCameraDecorator::getDecoration(), osg::TileCameraDecorator::getProjection(), osg::MatrixCameraDecorator::getProjection(), osg::MatrixCameraDecorator::getProjectionTranslation(), osg::ImageComposer::getScreenAlignedBBox(), osg::MatrixCameraDecorator::getViewing(), setGenFunc(), and osg::TileGeometryLoad::updateView().

01852 {
01853     ValueTypeT rTmpMat[4][4];
01854 
01855     (rTmpMat)[0][0] = rowMulCol4((matrix), 0, (*this), 0);
01856     (rTmpMat)[0][1] = rowMulCol4((matrix), 1, (*this), 0);
01857     (rTmpMat)[0][2] = rowMulCol4((matrix), 2, (*this), 0);
01858     (rTmpMat)[0][3] = rowMulCol4((matrix), 3, (*this), 0);
01859 
01860     (rTmpMat)[1][0] = rowMulCol4((matrix), 0, (*this), 1);
01861     (rTmpMat)[1][1] = rowMulCol4((matrix), 1, (*this), 1);
01862     (rTmpMat)[1][2] = rowMulCol4((matrix), 2, (*this), 1);
01863     (rTmpMat)[1][3] = rowMulCol4((matrix), 3, (*this), 1);
01864 
01865     (rTmpMat)[2][0] = rowMulCol4((matrix), 0, (*this), 2);
01866     (rTmpMat)[2][1] = rowMulCol4((matrix), 1, (*this), 2);
01867     (rTmpMat)[2][2] = rowMulCol4((matrix), 2, (*this), 2);
01868     (rTmpMat)[2][3] = rowMulCol4((matrix), 3, (*this), 2);
01869 
01870     (rTmpMat)[3][0] = rowMulCol4((matrix), 0, (*this), 3);
01871     (rTmpMat)[3][1] = rowMulCol4((matrix), 1, (*this), 3);
01872     (rTmpMat)[3][2] = rowMulCol4((matrix), 2, (*this), 3);
01873     (rTmpMat)[3][3] = rowMulCol4((matrix), 3, (*this), 3);
01874 
01875     _matrix[0][0] = rTmpMat[0][0];
01876     _matrix[0][1] = rTmpMat[0][1];
01877     _matrix[0][2] = rTmpMat[0][2];
01878     _matrix[0][3] = rTmpMat[0][3];
01879 
01880     _matrix[1][0] = rTmpMat[1][0];
01881     _matrix[1][1] = rTmpMat[1][1];
01882     _matrix[1][2] = rTmpMat[1][2];
01883     _matrix[1][3] = rTmpMat[1][3];
01884 
01885     _matrix[2][0] = rTmpMat[2][0];
01886     _matrix[2][1] = rTmpMat[2][1];
01887     _matrix[2][2] = rTmpMat[2][2];
01888     _matrix[2][3] = rTmpMat[2][3];
01889 
01890     _matrix[3][0] = rTmpMat[3][0];
01891     _matrix[3][1] = rTmpMat[3][1];
01892     _matrix[3][2] = rTmpMat[3][2];
01893     _matrix[3][3] = rTmpMat[3][3];
01894 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::add ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 1899 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

01900 {
01901     _matrix[0][0] += matrix._matrix[0][0];
01902     _matrix[0][1] += matrix._matrix[0][1];
01903     _matrix[0][2] += matrix._matrix[0][2];
01904     _matrix[0][3] += matrix._matrix[0][3];
01905 
01906     _matrix[1][0] += matrix._matrix[1][0];
01907     _matrix[1][1] += matrix._matrix[1][1];
01908     _matrix[1][2] += matrix._matrix[1][2];
01909     _matrix[1][3] += matrix._matrix[1][3];
01910 
01911     _matrix[2][0] += matrix._matrix[2][0];
01912     _matrix[2][1] += matrix._matrix[2][1];
01913     _matrix[2][2] += matrix._matrix[2][2];
01914     _matrix[2][3] += matrix._matrix[2][3];
01915 
01916     _matrix[3][0] += matrix._matrix[3][0];
01917     _matrix[3][1] += matrix._matrix[3][1];
01918     _matrix[3][2] += matrix._matrix[3][2];
01919     _matrix[3][3] += matrix._matrix[3][3];
01920 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::scale ( ValueTypeT s ) [inline, inherited]

Definition at line 1925 of file OSGMatrix.inl.

Referenced by osg::TransformationMatrix< ValueTypeT >::exp(), osg::TransformationMatrix< ValueTypeT >::expOf(), osg::TransformationMatrix< ValueTypeT >::log(), osg::TransformationMatrix< ValueTypeT >::logOf(), osg::TransformationMatrix< ValueTypeT >::sqrt(), and osg::TransformationMatrix< ValueTypeT >::sqrtOf().

01926 {
01927     _matrix[0][0] *= s;
01928     _matrix[0][1] *= s;
01929     _matrix[0][2] *= s;
01930     _matrix[0][3] *= s;
01931 
01932     _matrix[1][0] *= s;
01933     _matrix[1][1] *= s;
01934     _matrix[1][2] *= s;
01935     _matrix[1][3] *= s;
01936 
01937     _matrix[2][0] *= s;
01938     _matrix[2][1] *= s;
01939     _matrix[2][2] *= s;
01940     _matrix[2][3] *= s;
01941 
01942     _matrix[3][0] *= s;
01943     _matrix[3][1] *= s;
01944     _matrix[3][2] *= s;
01945     _matrix[3][3] *= s;
01946 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::addScaled	(	const TransformationMatrix< ValueTypeT > &	matrix,
		ValueTypeT	s
	)			`[inline, inherited]`

Definition at line 1951 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::_matrix.

Referenced by osg::TransformationMatrix< ValueTypeT >::exp(), osg::TransformationMatrix< ValueTypeT >::expOf(), osg::TransformationMatrix< ValueTypeT >::log(), osg::TransformationMatrix< ValueTypeT >::logOf(), osg::TransformationMatrix< ValueTypeT >::sqrt(), and osg::TransformationMatrix< ValueTypeT >::sqrtOf().

01954 {
01955     _matrix[0][0] += s*matrix._matrix[0][0];
01956     _matrix[0][1] += s*matrix._matrix[0][1];
01957     _matrix[0][2] += s*matrix._matrix[0][2];
01958     _matrix[0][3] += s*matrix._matrix[0][3];
01959 
01960     _matrix[1][0] += s*matrix._matrix[1][0];
01961     _matrix[1][1] += s*matrix._matrix[1][1];
01962     _matrix[1][2] += s*matrix._matrix[1][2];
01963     _matrix[1][3] += s*matrix._matrix[1][3];
01964 
01965     _matrix[2][0] += s*matrix._matrix[2][0];
01966     _matrix[2][1] += s*matrix._matrix[2][1];
01967     _matrix[2][2] += s*matrix._matrix[2][2];
01968     _matrix[2][3] += s*matrix._matrix[2][3];
01969 
01970     _matrix[3][0] += s*matrix._matrix[3][0];
01971     _matrix[3][1] += s*matrix._matrix[3][1];
01972     _matrix[3][2] += s*matrix._matrix[3][2];
01973     _matrix[3][3] += s*matrix._matrix[3][3];
01974 }

template<class ValueTypeT>

void osg::TransformationMatrix< ValueTypeT >::negate ( void ) [inline, inherited]

Definition at line 1979 of file OSGMatrix.inl.

Referenced by osg::TransformationMatrix< ValueTypeT >::log().

01980 {
01981     _matrix[0][0] *= -1.0;
01982     _matrix[0][1] *= -1.0;
01983     _matrix[0][2] *= -1.0;
01984     _matrix[0][3] *= -1.0;
01985 
01986     _matrix[1][0] *= -1.0;
01987     _matrix[1][1] *= -1.0;
01988     _matrix[1][2] *= -1.0;
01989     _matrix[1][3] *= -1.0;
01990 
01991     _matrix[2][0] *= -1.0;
01992     _matrix[2][1] *= -1.0;
01993     _matrix[2][2] *= -1.0;
01994     _matrix[2][3] *= -1.0;
01995 
01996     _matrix[3][0] *= -1.0;
01997     _matrix[3][1] *= -1.0;
01998     _matrix[3][2] *= -1.0;
01999     _matrix[3][3] *= -1.0;
02000 }

template<class ValueTypeT>

ValueTypeT osg::TransformationMatrix< ValueTypeT >::norm1 ( void ) const [inline, inherited]

Definition at line 2005 of file OSGMatrix.inl.

References osg::osgabs().

02006 {
02007     ValueTypeT m(0);
02008 
02009     m += osgabs(_matrix[0][0]);
02010     m += osgabs(_matrix[0][1]);
02011     m += osgabs(_matrix[0][2]);
02012     m += osgabs(_matrix[0][3]);
02013     m += osgabs(_matrix[1][0]);
02014     m += osgabs(_matrix[1][1]);
02015     m += osgabs(_matrix[1][2]);
02016     m += osgabs(_matrix[1][3]);
02017     m += osgabs(_matrix[2][0]);
02018     m += osgabs(_matrix[2][1]);
02019     m += osgabs(_matrix[2][2]);
02020     m += osgabs(_matrix[2][3]);
02021     m += osgabs(_matrix[3][0]);
02022     m += osgabs(_matrix[3][1]);
02023     m += osgabs(_matrix[3][2]);
02024     m += osgabs(_matrix[3][3]);
02025 
02026     return m;
02027 }

template<class ValueTypeT>

ValueTypeT osg::TransformationMatrix< ValueTypeT >::norm2 ( void ) const [inline, inherited]

Definition at line 2032 of file OSGMatrix.inl.

References osg::osgsqrt().

02033 {
02034     ValueTypeT m = 0.;
02035     ValueTypeT t;
02036 
02037     t = _matrix[0][0]; m += t*t;
02038     t = _matrix[0][1]; m += t*t;
02039     t = _matrix[0][2]; m += t*t;
02040     t = _matrix[0][3]; m += t*t;
02041     t = _matrix[1][0]; m += t*t;
02042     t = _matrix[1][1]; m += t*t;
02043     t = _matrix[1][2]; m += t*t;
02044     t = _matrix[1][3]; m += t*t;
02045     t = _matrix[2][0]; m += t*t;
02046     t = _matrix[2][1]; m += t*t;
02047     t = _matrix[2][2]; m += t*t;
02048     t = _matrix[2][3]; m += t*t;
02049     t = _matrix[3][0]; m += t*t;
02050     t = _matrix[3][1]; m += t*t;
02051     t = _matrix[3][2]; m += t*t;
02052     t = _matrix[3][3]; m += t*t;
02053 
02054     return osgsqrt(m);
02055 }

template<class ValueTypeT>

ValueTypeT osg::TransformationMatrix< ValueTypeT >::normInfinity ( void ) const [inline, inherited]

Definition at line 2060 of file OSGMatrix.inl.

References osg::osgabs().

Referenced by osg::TransformationMatrix< ValueTypeT >::exp(), osg::TransformationMatrix< ValueTypeT >::expOf(), osg::TransformationMatrix< ValueTypeT >::log(), and osg::TransformationMatrix< ValueTypeT >::logOf().

02061 {
02062     ValueTypeT m = 0.;
02063     ValueTypeT t;
02064 
02065     if((t = osgabs(_matrix[0][0])) > m) 
02066         m = t;
02067     if((t = osgabs(_matrix[0][1])) > m)
02068         m = t;
02069     if((t = osgabs(_matrix[0][2])) > m) 
02070         m = t;
02071     if((t = osgabs(_matrix[0][3])) > m) 
02072         m = t;
02073     if((t = osgabs(_matrix[1][0])) > m) 
02074         m = t;
02075     if((t = osgabs(_matrix[1][1])) > m) 
02076         m = t;
02077     if((t = osgabs(_matrix[1][2])) > m) 
02078         m = t;
02079     if((t = osgabs(_matrix[1][3])) > m) 
02080         m = t;
02081     if((t = osgabs(_matrix[2][0])) > m) 
02082         m = t;
02083     if((t = osgabs(_matrix[2][1])) > m) 
02084         m = t;
02085     if((t = osgabs(_matrix[2][2])) > m) 
02086         m = t;
02087     if((t = osgabs(_matrix[2][3])) > m) 
02088         m = t;
02089     if((t = osgabs(_matrix[3][0])) > m) 
02090         m = t;
02091     if((t = osgabs(_matrix[3][1])) > m) 
02092         m = t;
02093     if((t = osgabs(_matrix[3][2])) > m) 
02094         m = t;
02095     if((t = osgabs(_matrix[3][3])) > m) 
02096         m = t;
02097 
02098     return m;
02099 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::sqrt ( TransformationMatrix< ValueTypeT > & result ) const [inline, inherited]

Definition at line 2106 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::addScaled(), osg::TransformationMatrix< ValueTypeT >::det(), osg::TransformationMatrix< ValueTypeT >::inverse(), osg::osgabs(), osg::osgpow(), osg::TransformationMatrix< ValueTypeT >::scale(), osg::TransformationMatrix< ValueTypeT >::setIdentity(), and osg::TransformationMatrix< ValueTypeT >::setValue().

Referenced by osg::TransformationMatrix< ValueTypeT >::log().

02107 {
02108     TransformationMatrix iX;
02109     TransformationMatrix  Y;
02110     TransformationMatrix iY;
02111 
02112     ValueTypeT  g;
02113     ValueTypeT ig;
02114 
02115     result.setValue(*this);
02116 
02117     Y.setIdentity();
02118 
02119     for(UInt32 i = 0; i < 6; i++)
02120     {
02121         result.inverse(iX);
02122 
02123         Y.inverse(iY);
02124 
02125         g = osgabs(osgpow(result.det() * Y.det(), ValueTypeT(-0.125)));
02126 
02127         ig = ValueTypeT(1.0 / g);
02128 
02129         result.scale    (g     );
02130         result.addScaled(iY, ig);
02131         result.scale    (0.5   );
02132 
02133         Y.scale    (g     );
02134         Y.addScaled(iX, ig);
02135         Y.scale    (0.5   );
02136     }
02137 
02138     // ToDo: return should depend on achieved accuracy
02139     return true;
02140 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::sqrt ( void ) [inline, inherited]

Definition at line 2187 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::addScaled(), osg::TransformationMatrix< ValueTypeT >::det(), osg::TransformationMatrix< ValueTypeT >::inverse(), osg::osgabs(), osg::osgpow(), osg::TransformationMatrix< ValueTypeT >::scale(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

02188 {
02189     TransformationMatrix iX;
02190     TransformationMatrix  Y;
02191     TransformationMatrix iY;
02192 
02193     ValueTypeT  g;
02194     ValueTypeT ig;
02195 
02196     Y.setIdentity();
02197 
02198     for(Int32 i = 0; i < 6; i++)
02199     {
02200         inverse(iX);
02201 
02202         Y.inverse(iY);
02203 
02204         g = osgabs(osgpow(det() * Y.det(), ValueTypeT(-0.125)));
02205 
02206         ig = ValueTypeT(1.0 / g);
02207 
02208         scale    (g     );
02209         addScaled(iY, ig);
02210         scale    (0.5   );
02211 
02212         Y.scale    (g     );
02213         Y.addScaled(iX, ig);
02214         Y.scale    (0.5   );
02215     }
02216 
02217     // ToDo: return should depend on achieved accuracy
02218     return true;
02219 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::sqrtOf ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 2147 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::addScaled(), osg::TransformationMatrix< ValueTypeT >::det(), osg::TransformationMatrix< ValueTypeT >::inverse(), osg::osgabs(), osg::osgpow(), osg::TransformationMatrix< ValueTypeT >::scale(), osg::TransformationMatrix< ValueTypeT >::setIdentity(), and osg::TransformationMatrix< ValueTypeT >::setValue().

02149 {
02150     TransformationMatrix iX;
02151     TransformationMatrix  Y;
02152     TransformationMatrix iY;
02153 
02154     ValueTypeT  g;
02155     ValueTypeT ig;
02156 
02157     setValue(matrix);
02158 
02159     Y.setIdentity();
02160 
02161     for(Int32 i = 0; i < 6; i++)
02162     {
02163         inverse(iX);
02164 
02165         Y.inverse(iY);
02166 
02167         g = osgabs(osgpow(det() * Y.det(), ValueTypeT(-0.125)));
02168 
02169         ig = ValueTypeT(1.0 / g);
02170 
02171         scale    (g     );
02172         addScaled(iY, ig);
02173         scale    (0.5   );
02174 
02175         Y.scale    (g     );
02176         Y.addScaled(iX, ig);
02177         Y.scale    (0.5);
02178     }
02179 
02180     // ToDo: return should depend on achieved accuracy
02181     return true;
02182 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::log ( TransformationMatrix< ValueTypeT > & result ) const [inline, inherited]

Definition at line 2226 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::addScaled(), osg::TransformationMatrix< ValueTypeT >::mult(), osg::TransformationMatrix< ValueTypeT >::negate(), osg::TransformationMatrix< ValueTypeT >::normInfinity(), osg::TransformationMatrix< ValueTypeT >::scale(), osg::TransformationMatrix< ValueTypeT >::setValue(), and osg::TransformationMatrix< ValueTypeT >::sqrt().

02227 {
02228     const Int32      maxiter = 12;
02229           Int32      k       = 0;
02230           Int32      i       = 0;
02231     const ValueTypeT eps     = 1e-12;
02232 
02233     TransformationMatrix A(*this);
02234     TransformationMatrix Z;
02235 
02236     // Take repeated square roots to reduce spectral radius
02237     Z.setValue(A);
02238 
02239     Z[0][0] -= TypeTraits<ValueType>::getOneElement();
02240     Z[1][1] -= TypeTraits<ValueType>::getOneElement();
02241     Z[2][2] -= TypeTraits<ValueType>::getOneElement();
02242     Z[3][3] -= TypeTraits<ValueType>::getOneElement();
02243 
02244     while(Z.normInfinity() > 0.5)
02245     {
02246         A.sqrt    ( );
02247         Z.setValue(A);
02248 
02249         Z[0][0] -= TypeTraits<ValueType>::getOneElement();
02250         Z[1][1] -= TypeTraits<ValueType>::getOneElement();
02251         Z[2][2] -= TypeTraits<ValueType>::getOneElement();
02252         Z[3][3] -= TypeTraits<ValueType>::getOneElement();
02253 
02254         k++;
02255     }
02256 
02257     A[0][0] -= TypeTraits<ValueType>::getOneElement();
02258     A[1][1] -= TypeTraits<ValueType>::getOneElement();
02259     A[2][2] -= TypeTraits<ValueType>::getOneElement();
02260     A[3][3] -= TypeTraits<ValueType>::getOneElement();
02261 
02262     A.negate();
02263 
02264     result.setValue(A);
02265 
02266     Z.setValue(A);
02267 
02268     i = 1;
02269 
02270     while(Z.normInfinity() > eps && i < maxiter)
02271     {
02272         Z.mult(A);
02273 
02274         i++;
02275 
02276         result.addScaled(Z, ValueTypeT(1.0) / ValueTypeT(i));
02277     }
02278 
02279     result.scale(ValueTypeT(-1.0) * ValueTypeT(1 << k));
02280 
02281     return (i < maxiter);
02282 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::logOf ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 2289 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::addScaled(), osg::TransformationMatrix< ValueTypeT >::mult(), osg::TransformationMatrix< ValueTypeT >::normInfinity(), osg::TransformationMatrix< ValueTypeT >::scale(), and osg::TransformationMatrix< ValueTypeT >::setValue().

Referenced by osg::LinearTransform< ValueTypeT >::LinearTransform(), and osg::LinearTransform< ValueTypeT >::setValue().

02291 {
02292     const Int32      maxiter = 12;
02293           Int32      k       = 0;
02294           Int32      i       = 0;
02295     const ValueTypeT eps     = 1e-12;
02296 
02297     TransformationMatrix<ValueTypeT> A(matrix),Z;
02298 
02299     // Take repeated square roots to reduce spectral radius
02300     Z.setValue(A);
02301 
02302     Z[0][0] -= TypeTraits<ValueType>::getOneElement();
02303     Z[1][1] -= TypeTraits<ValueType>::getOneElement();
02304     Z[2][2] -= TypeTraits<ValueType>::getOneElement();
02305     Z[3][3] -= TypeTraits<ValueType>::getOneElement();
02306 
02307     while(Z.normInfinity() > 0.5)
02308     {
02309         A.sqrt();
02310 
02311         Z.setValue(A);
02312 
02313         Z[0][0] -= TypeTraits<ValueType>::getOneElement();
02314         Z[1][1] -= TypeTraits<ValueType>::getOneElement();
02315         Z[2][2] -= TypeTraits<ValueType>::getOneElement();
02316         Z[3][3] -= TypeTraits<ValueType>::getOneElement();
02317 
02318         k++;
02319     }
02320 
02321     A[0][0] -= TypeTraits<ValueType>::getOneElement();
02322     A[1][1] -= TypeTraits<ValueType>::getOneElement();
02323     A[2][2] -= TypeTraits<ValueType>::getOneElement();
02324     A[3][3] -= TypeTraits<ValueType>::getOneElement();
02325 
02326     A.negate();
02327 
02328     setValue(A);
02329 
02330     Z.setValue(A);
02331 
02332     i = 1;
02333     while(Z.normInfinity() > eps && i < maxiter)
02334     {
02335         Z.mult(A);
02336 
02337         i++;
02338 
02339         addScaled(Z, ValueTypeT(1.0) / ValueTypeT(i));
02340     }
02341 
02342     scale(ValueTypeT(-1.0) * ValueTypeT(1 << k));
02343 
02344     return (i<maxiter);
02345 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::exp ( TransformationMatrix< ValueTypeT > & result ) const [inline, inherited]

Definition at line 2352 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::addScaled(), osg::TransformationMatrix< ValueTypeT >::invertFrom(), osg::TransformationMatrix< ValueTypeT >::mult(), osg::TransformationMatrix< ValueTypeT >::multLeft(), osg::TransformationMatrix< ValueTypeT >::normInfinity(), osg::osglog(), osg::TransformationMatrix< ValueTypeT >::scale(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

02353 {
02354     const Int32                q = 6;
02355 
02356           TransformationMatrix A(*this);
02357           TransformationMatrix D;
02358           TransformationMatrix N;
02359 
02360           Int32                j = 1;
02361           Int32                k;
02362 
02363           ValueTypeT           c(1.0);
02364 
02365     j += Int32(osglog(A.normInfinity() / 0.693));
02366 
02367     if(j < 0) 
02368         j = 0;
02369 
02370     A.scale(ValueTypeT(1.0f / (1 << j)));
02371 
02372     result.setIdentity();
02373 
02374     for(k = 1; k <= q; k++)
02375     {
02376         c *= ValueTypeT(q - k + 1) / ValueTypeT(k * (2 * q - k + 1));
02377 
02378         result.multLeft(A);
02379 
02380         N.addScaled(result, c);
02381 
02382         if(k % 2) 
02383         {
02384             D.addScaled(result, -c);
02385         }
02386         else
02387         {
02388             D.addScaled(result,  c);
02389         }
02390     }
02391 
02392     result.invertFrom(D);
02393     result.mult      (N);
02394 
02395     for(k = 0; k < j; k++)
02396         result.mult(result);
02397 
02398     // ToDo: return value
02399     return true;
02400 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::expOf ( const TransformationMatrix< ValueTypeT > & matrix ) [inline, inherited]

Definition at line 2406 of file OSGMatrix.inl.

References osg::TransformationMatrix< ValueTypeT >::addScaled(), osg::TransformationMatrix< ValueTypeT >::invertFrom(), osg::TransformationMatrix< ValueTypeT >::mult(), osg::TransformationMatrix< ValueTypeT >::multLeft(), osg::TransformationMatrix< ValueTypeT >::normInfinity(), osg::osglog(), osg::TransformationMatrix< ValueTypeT >::scale(), and osg::TransformationMatrix< ValueTypeT >::setIdentity().

Referenced by osg::LinearTransform< ValueTypeT >::getTransform().

02408 {
02409     const Int32                q = 6;
02410 
02411           TransformationMatrix A(matrix);
02412           TransformationMatrix D;
02413           TransformationMatrix N;
02414 
02415           Int32                j = 1;
02416           Int32                k;
02417 
02418           ValueTypeT           c(1.0);
02419 
02420     j += int(osglog(A.normInfinity() / 0.693));
02421 
02422     if(j < 0) 
02423         j = 0;
02424 
02425     A.scale(1.0 / (ValueTypeT(1 << j)));
02426 
02427     setIdentity();
02428 
02429     for(k = 1; k <= q; k++)
02430     {
02431         c *= ValueTypeT(q - k + 1) / ValueTypeT(k * (2 *q - k + 1));
02432 
02433         multLeft(A);
02434 
02435         N.addScaled(*this,c);
02436 
02437         if(k % 2) 
02438         {
02439             D.addScaled(*this, -c);
02440         }
02441         else 
02442         {
02443             D.addScaled(*this,  c);
02444         }
02445     }
02446 
02447     invertFrom(D);
02448     mult      (N);
02449 
02450     for(k = 0; k < j; k++)
02451         mult(*this);
02452 
02453     // ToDo: return value
02454     return true;
02455 }

template<class ValueTypeT>

TransformationMatrix< ValueTypeT >::VectorType & osg::TransformationMatrix< ValueTypeT >::operator[] ( UInt32 uiIndex ) [inline, inherited]

Definition at line 2462 of file OSGMatrix.inl.

02463 {
02464     return _matrix[uiIndex];
02465 }

template<class ValueTypeT>

const TransformationMatrix< ValueTypeT >::VectorType & osg::TransformationMatrix< ValueTypeT >::operator[] ( UInt32 uiIndex ) const [inline, inherited]

Definition at line 2469 of file OSGMatrix.inl.

02470 {
02471     return _matrix[uiIndex];
02472 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::operator== ( const TransformationMatrix< ValueTypeT > & other ) const [inline, inherited]

Definition at line 2501 of file OSGMatrix.inl.

References osg::Eps, and osg::TransformationMatrix< ValueTypeT >::equals().

02503 {
02504     return equals(other, Eps);
02505 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::operator!= ( const TransformationMatrix< ValueTypeT > & other ) const [inline, inherited]

Definition at line 2512 of file OSGMatrix.inl.

02514 {
02515     return ! (*this == other);
02516 }

template<class ValueTypeT>

ValueTypeT osg::TransformationMatrix< ValueTypeT >::rowMulCol4	(	const TransformationMatrix< ValueTypeT > &	gRowMat,
		UInt32	iRow,
		const TransformationMatrix< ValueTypeT > &	gColMat,
		UInt32	iColumn
	)			const `[inline, protected, inherited]`

Definition at line 2522 of file OSGMatrix.inl.

Referenced by osg::TransformationMatrix< ValueTypeT >::mult(), and osg::TransformationMatrix< ValueTypeT >::multLeft().

02525 {
02526     return
02527         gRowMat[0][iRow] * gColMat[iColumn][0] +
02528         gRowMat[1][iRow] * gColMat[iColumn][1] +
02529         gRowMat[2][iRow] * gColMat[iColumn][2] +
02530         gRowMat[3][iRow] * gColMat[iColumn][3];
02531 }

template<class ValueTypeT>

ValueTypeT osg::TransformationMatrix< ValueTypeT >::det2	(	const ValueTypeT	a1,
		const ValueTypeT	a2,
		const ValueTypeT	b1,
		const ValueTypeT	b2
	)			const `[inline, protected, inherited]`

Definition at line 2535 of file OSGMatrix.inl.

Referenced by osg::TransformationMatrix< ValueTypeT >::inverse3(), osg::TransformationMatrix< ValueTypeT >::invert3(), and osg::TransformationMatrix< ValueTypeT >::invertFrom3().

02538 {
02539     return (a1 * b2) - (a2 * b1);
02540 }

template<class ValueTypeT>

bool osg::TransformationMatrix< ValueTypeT >::jacobi	(	ValueTypeT	evalues[JacobiRank],
		VectorType3f	evectors[JacobiRank],
		Int32 &	rots
	)			`[inline, protected, inherited]`

Definition at line 2564 of file OSGMatrix.inl.

References osg::osgabs(), osg::osgsqrt(), and p.

Referenced by osg::TransformationMatrix< ValueTypeT >::factor().

02568 {
02569     Real64  sm;         
02570     Real64  theta;      
02571     Real64  c, s, t;    
02572     Real64  tau;        
02573     Real64  h, g;       
02574     Real64  thresh;     
02575     Real64  b[JacobiRank]; 
02576     Real64  z[JacobiRank]; 
02577     UInt32  p, q, i, j;
02578     Real64  a[JacobiRank][JacobiRank];
02579     
02580     // initializations
02581     for (i = 0; i < JacobiRank; i++) 
02582     {
02583         b[i] = evalues[i] = _matrix[i][i];
02584         z[i] = 0.0;
02585 
02586         for (j = 0; j < JacobiRank; j++) 
02587         {
02588             evectors[i][j] = (i == j) ? 1.0f : 0.0f;
02589             a[i][j] = _matrix[i][j];
02590         }
02591     }
02592     
02593     rots = 0;
02594 
02595     for(i = 0; i < 50; i++) 
02596     {
02597         sm = 0.0;
02598         
02599         for(p = 0; p < JacobiRank - 1; p++)
02600         {
02601             for(q = p+1; q < JacobiRank; q++)
02602             {
02603                 sm += osgabs(a[p][q]);
02604             }
02605         }
02606 
02607         if (sm == 0.0)
02608             return false;
02609         
02610         thresh = (i < 3 ?
02611                   (.2 * sm / (JacobiRank * JacobiRank)) :
02612                   0.0);
02613         
02614         for (p = 0; p < JacobiRank - 1; p++) 
02615         {
02616             for (q = p + 1; q < JacobiRank; q++) 
02617             {
02618                 g = 100.0 * osgabs(a[p][q]);
02619                 
02620                 if (i > 3                                          && 
02621                     (osgabs(evalues[p]) + g == osgabs(evalues[p])) &&
02622                     (osgabs(evalues[q]) + g == osgabs(evalues[q])))
02623                 {
02624                     a[p][q] = 0.0;
02625                 }
02626                 else if (osgabs(a[p][q]) > thresh) 
02627                 {
02628                     h = evalues[q] - evalues[p];
02629                     
02630                     if (osgabs(h) + g == osgabs(h))
02631                     {
02632                         t = a[p][q] / h;
02633                     }
02634                     else 
02635                     {
02636                         theta = .5 * h / a[p][q];
02637                         t = 1.0 / (osgabs(theta) + osgsqrt(1 + theta * theta));
02638                         if (theta < 0.0)  t = -t;
02639                     }
02640                     // End of computing tangent of rotation angle
02641                     
02642                     c = 1.0 / osgsqrt(1.0 + t * t);
02643                     s = t * c;
02644 
02645                     tau = s / (1.0 + c);
02646                     h   = t * a[p][q];
02647 
02648                     z[p]    -= h;
02649                     z[q]    += h;
02650 
02651                     evalues[p] -= ValueTypeT(h);
02652                     evalues[q] += ValueTypeT(h);
02653 
02654                     a[p][q] = 0.0;
02655                     
02656                     for (j = 0; j < p; j++) 
02657                     {
02658                         g = a[j][p];
02659                         h = a[j][q];
02660 
02661                         a[j][p] = g - s * (h + g * tau);
02662                         a[j][q] = h + s * (g - h * tau);
02663                     }
02664                     
02665                     for (j = p+1; j < q; j++) 
02666                     {
02667                         g = a[p][j];
02668                         h = a[j][q];
02669 
02670                         a[p][j] = g - s * (h + g * tau);
02671                         a[j][q] = h + s * (g - h * tau);
02672                     }
02673                     
02674                     for (j = q+1; j < JacobiRank; j++) 
02675                     {
02676                         g = a[p][j];
02677                         h = a[q][j];
02678 
02679                         a[p][j] = g - s * (h + g * tau);
02680                         a[q][j] = h + s * (g - h * tau);
02681                     }
02682                     
02683                     for (j = 0; j < JacobiRank; j++) 
02684                     {
02685                         g = evectors[j][p];
02686                         h = evectors[j][q];
02687 
02688                         evectors[j][p] = ValueTypeT(g - s * (h + g * tau));
02689                         evectors[j][q] = ValueTypeT(h + s * (g - h * tau));
02690                     }
02691                 }
02692                 rots++;
02693             }
02694         }
02695         for (p = 0; p < JacobiRank; p++) 
02696         {
02697             evalues[p] = ValueTypeT(b[p] += z[p]);
02698 
02699             z[p] = 0;
02700         }
02701     }
02702 
02703     return true;
02704 }

Member Data Documentation

Real64* osg::Matrix4d::_val [private]

Definition at line 6998 of file dummyClasses.dox.

template<class ValueTypeT>

VectorType osg::TransformationMatrix< ValueTypeT >::_matrix[4] [protected, inherited]

Definition at line 403 of file OSGMatrix.h.

template<class ValueTypeT>

const UInt32 osg::TransformationMatrix< ValueTypeT >::JacobiRank = 3 [static, protected, inherited]

Definition at line 434 of file OSGMatrix.h.

The documentation for this class was generated from the following file:

dummyClasses.dox


Internal Math

static const UInt32	JacobiRank = 3
ValueTypeT	det3 (const ValueTypeT a1, const ValueTypeT a2, const ValueTypeT a3, const ValueTypeT b1, const ValueTypeT b2, const ValueTypeT b3, const ValueTypeT c1, const ValueTypeT c2, const ValueTypeT c3) const
ValueTypeT	rowMulCol4 (const TransformationMatrix &gRowMat, UInt32 iRow, const TransformationMatrix &gColMat, UInt32 iColumn) const
ValueTypeT	det2 (const ValueTypeT a1, const ValueTypeT a2, const ValueTypeT b1, const ValueTypeT b2) const
bool	jacobi (ValueTypeT evalues[JacobiRank], VectorType3f evectors[JacobiRank], Int32 &rots)
Public Types
Types

typedef ValueTypeT	ValueType
	Value type, eg Real32.
typedef VectorInterface < ValueTypeT, VecStorage4 < ValueTypeT > >	VectorType
	Matrix vector type, eg Vec4f.
typedef QuaternionBase< ValueType >	QuaternionType
	Matrix quaternion type.
typedef VectorInterface < ValueTypeT, VecStorage3 < ValueTypeT > >	VectorType3f
	Matrix vec3f type.
typedef PointInterface < ValueTypeT, VecStorage3 < ValueTypeT > >	PointType3f
	Matrix pnt3f type.
Public Member Functions
Set

void	setIdentity (void)
void	setValue (const TransformationMatrix &mat)
void	setValue (const VectorType3f &vector1, const VectorType3f &vector2, const VectorType3f &vector3)
void	setValue (const VectorType3f &vector1, const VectorType3f &vector2, const VectorType3f &vector3, const VectorType3f &vector4)
void	setValue (const ValueTypeT rVal00, const ValueTypeT rVal10, const ValueTypeT rVal20, const ValueTypeT rVal30, const ValueTypeT rVal01, const ValueTypeT rVal11, const ValueTypeT rVal21, const ValueTypeT rVal31, const ValueTypeT rVal02, const ValueTypeT rVal12, const ValueTypeT rVal22, const ValueTypeT rVal32, const ValueTypeT rVal03, const ValueTypeT rVal13, const ValueTypeT rVal23, const ValueTypeT rVal33)
void	setValue (const ValueTypeT *pMat, bool bTransposed=true)
	Set value from an ValueTypeT array, be shure the sizes match.
void	setValue (const VectorType *pMat)
	Set value from an VectorTypeT array, be shure the sizes match.
void	setValue (const VectorType3f *pMat)
void	setValue (const Char8 *string, bool bTransposed=true)
	Set matrix by a given str (like "1.0 0.0 0.0 0.0 ... (16 entries at all)"), be shure the size matches.
void	setValueTransposed (const ValueTypeT rVal00, const ValueTypeT rVal01, const ValueTypeT rVal02, const ValueTypeT rVal03, const ValueTypeT rVal10, const ValueTypeT rVal11, const ValueTypeT rVal12, const ValueTypeT rVal13, const ValueTypeT rVal20, const ValueTypeT rVal21, const ValueTypeT rVal22, const ValueTypeT rVal23, const ValueTypeT rVal30, const ValueTypeT rVal31, const ValueTypeT rVal32, const ValueTypeT rVal33)
Get

ValueTypeT *	getValues (void)
	Returns an C++ pointer to the value store.
const ValueTypeT *	getValues (void) const
	Returns an C++ pointer to the value store.
Set Transformations

void	setScale (const ValueTypeT s)
	Sets matrix to scale by given uniform factor.
void	setScale (const ValueTypeT sx, const ValueTypeT sy, const ValueTypeT sz)
	Sets matrix to scale by given uniform factor.
void	setScale (const VectorType3f &s)
	Sets matrix to scale by given vector.
void	setTranslate (const ValueTypeT tx, const ValueTypeT ty, const ValueTypeT tz)
	Sets matrix to translate by given values.
void	setTranslate (const VectorType3f &t)
	Sets matrix to translate by given vector.
void	setTranslate (const PointType3f &t)
	Sets matrix to translate by given point.
void	setRotate (const QuaternionType &q)
	Sets matrix to rotate by given rotation.
void	setTransform (const VectorType3f &t)
	Composes the matrix based on a translation.
void	setTransform (const QuaternionType &r)
	Composes the matrix based on a rotation.
void	setTransform (const VectorType3f &t, const QuaternionType &r)
	Composes the matrix based on a translation and rotation.
void	setTransform (const VectorType3f &t, const QuaternionType &r, const VectorType3f &s)
	Composes the matrix based on a translation, rotation and scale.
void	setTransform (const VectorType3f &t, const QuaternionType &r, const VectorType3f &s, const QuaternionType &so)
	Composes the matrix based on a translation, rotation, scale and orientation.
void	setTransform (const VectorType3f &translation, const QuaternionType &rotation, const VectorType3f &scaleFactor, const QuaternionType &scaleOrientation, const VectorType3f &center)
Get Transformations

void	getTransform (VectorType3f &translation, QuaternionType &rotation, VectorType3f &scaleFactor, QuaternionType &scaleOrientation, const VectorType3f &center) const
	Decomposes the matrix into a translation, rotation, scale, and scale orientation. Any projection information is discarded. The decomposition depends upon choice of center point for rotation and scaling, which is optional as the last parameter. Note that if the center is 0, decompose() is the same as factor() where "t" is translation, "u" is rotation, "s" is scaleFactor, and "r" is ScaleOrientattion.
void	getTransform (VectorType3f &translation, QuaternionType &rotation, VectorType3f &scaleFactor, QuaternionType &scaleOrientation) const
	Decomposes the matrix into a translation, rotation and scale.
bool	factor (TransformationMatrix &r, VectorType3f &s, TransformationMatrix &u, VectorType3f &t, TransformationMatrix &proj) const
	Factors a matrix m into 5 pieces: m = r s rt u t, where rt means transpose of r, and r and u are rotations, s is a scale, and t is a translation. Any projection information is returned in proj.
Transform

void	multMatrixPnt (const PointType3f &src, PointType3f &dst) const
	Multiplies matrix by given column point, where the resulting point is given.
void	multMatrixPnt (PointType3f &pnt) const
	Multiplies matrix by given column point.
void	multFullMatrixPnt (const PointType3f &src, PointType3f &dst) const
	Multiplies matrix by given column point, where the resulting point is given. The full (4x4) matrix is used.
void	multFullMatrixPnt (PointType3f &pnt) const
	Multiplies matrix by given column point. The full (4x4) matrix is used.
void	multMatrixVec (const VectorType3f &src, VectorType3f &dst) const
	Multiplies matrix by given column vector, where the resulting vector is given.
void	multMatrixVec (VectorType3f &vec) const
	Multiplies matrix by given column vector.
void	multMatrixVec (const VectorType &src, VectorType &dst) const
	Multiplies matrix by given column point, where the resulting point is given.
void	multMatrixVec (VectorType &vec) const
	Multiplies matrix by given column point, where the resulting point is given.
void	mult (const PointType3f &src, PointType3f &dst) const
	Transforms the given point by the matrix and stores the result in dest.
void	mult (PointType3f &vec) const
	Transforms the given point by the matrix.
void	mult (const VectorType3f &src, VectorType3f &dst) const
	Transforms the given vector by the matrix and stores the result in dest.
void	mult (VectorType3f &vec) const
	Transforms the given vector by the matrix.
void	multPntMatrix (const PointType3f &src, PointType3f &dst) const
	Multiplies given row point by matrix, where the resulting point is given (pT * M).
void	multPntMatrix (PointType3f &pnt) const
	Multiplies given row point by matrix (pT * M).
void	multPntFullMatrix (const PointType3f &src, PointType3f &dst) const
	Multiplies given row point by matrix, where the resulting point is given. The full (4x4) matrix is used (pT * M).
void	multPntFullMatrix (PointType3f &pnt) const
	Multiplies given row point by matrix. The full (4x4) matrix is used (pT*M).
void	multVecMatrix (const VectorType3f &src, VectorType3f &dst) const
	Multiplies given row vector by matrix, where the resulting vector is given (vT * M).
void	multVecMatrix (VectorType3f &vec) const
	Multiplies given row vector by matrix.
Math

void	mult (const TransformationMatrix &matrix)
	Returns true iff all matrix elements are equal within the given tolerance.
bool	equals (const TransformationMatrix &matrix, const ValueType tol) const
	Returns true iff all matrix elements are equal within the given tolerance.
ValueTypeT	det3 (void) const
	Returns the determinat of the upper 3x3 submatrix.
ValueTypeT	det (void) const
	Returns the determinat of the whole 4x4 matrix.
bool	inverse (TransformationMatrix &result) const
	Stores the inverse of the matrix into result, returns true if the matrix is not singular.
bool	invert (void)
	Inverts the matrix, returns true if the matrix is not singular.
bool	invertFrom (const TransformationMatrix &matrix)
	Set the matrix to be the inverse of the given one, returns true if the matrix is not singular.
bool	inverse3 (TransformationMatrix &result) const
	Returns true iff all matrix elements are equal within the given tolerance.
bool	invert3 (void)
	Returns true iff all matrix elements are equal within the given tolerance.
bool	invertFrom3 (const TransformationMatrix &matrix)
	Returns true iff all matrix elements are equal within the given tolerance.
bool	transposed (TransformationMatrix &result) const
	Returns true iff all matrix elements are equal within the given tolerance.
bool	transpose (void)
	Returns true iff all matrix elements are equal within the given tolerance.
bool	transposeFrom (const TransformationMatrix &matrix)
	Returns true iff all matrix elements are equal within the given tolerance.
void	multLeft (const TransformationMatrix &matrix)
	Returns true iff all matrix elements are equal within the given tolerance.
void	add (const TransformationMatrix &matrix)
	Adds the given matrix to this matrix.
void	scale (ValueTypeT s)
	Scales the elements of this matrix.
void	addScaled (const TransformationMatrix &matrix, ValueTypeT s)
	Adds a scaled version of the given matrix to this matrix.
void	negate (void)
	Negates the matrix in place.
ValueTypeT	norm1 (void) const
	Returns the 1-norm of _matrix matrix.
ValueTypeT	norm2 (void) const
	Returns the 2-norm of this matrix.
ValueTypeT	normInfinity (void) const
	Returns the infinity norm of this matrix.
bool	sqrt (TransformationMatrix &result) const
	Computes the square root of the matrix and stores it in result, assumes det > 0.
bool	sqrt (void)
	Sets this matrix to its square root, assumes det > 0.
bool	sqrtOf (const TransformationMatrix &matrix)
	Sets this matrix to the square root of the given matrix, assumes det > 0.
bool	log (TransformationMatrix &result) const
	Computes the logarithm of this matrix and stores it in result, assumes det > 0.
bool	logOf (const TransformationMatrix &matrix)
	Sets this matrix to the logarithm of the given matrix, assumes det > 0.
bool	exp (TransformationMatrix &result) const
	Computes the exponential of this matrix and stores it in result.
bool	expOf (const TransformationMatrix &matrix)
	Sets this matrix to the exponential of the given matrix.
Element Access

VectorType &	operator[] (UInt32 uiIndex)
const VectorType &	operator[] (UInt32 uiIndex) const
Comparison

bool	operator== (const TransformationMatrix &other) const
	equal, returns true if all matrix elements are equal with the tolerance of Eps
bool	operator!= (const TransformationMatrix &other) const
	not equal, returns true if all matrix elements are not equal with the tolerance of Eps
Static Public Member Functions
Class Get

static const TransformationMatrix &	identity (void)
Protected Attributes
Storage

VectorType	_matrix [4]
	Value store.
Private Attributes
Real64 *	_val