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