383 lines
15 KiB
C
383 lines
15 KiB
C
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file lmatrix4_src.h
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* @author drose
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* @date 1999-01-15
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*/
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class FLOATNAME(UnalignedLMatrix4);
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/**
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* This is a 4-by-4 transform matrix.
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*/
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class EXPCL_PANDA_LINMATH ALIGN_LINMATH FLOATNAME(LMatrix4) {
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public:
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typedef FLOATTYPE numeric_type;
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typedef const FLOATTYPE *iterator;
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typedef const FLOATTYPE *const_iterator;
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PUBLISHED:
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enum {
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num_components = 16,
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is_int = 0
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};
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// These helper classes are used to support two-level operator [].
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class Row {
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private:
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INLINE_LINMATH Row(FLOATTYPE *row);
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PUBLISHED:
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INLINE_LINMATH FLOATTYPE operator [](int i) const;
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INLINE_LINMATH FLOATTYPE &operator [](int i);
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INLINE_LINMATH static int size();
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INLINE_LINMATH operator const FLOATNAME(LVecBase4) &() const;
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public:
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FLOATTYPE *_row;
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friend class FLOATNAME(LMatrix4);
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};
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class CRow {
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private:
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INLINE_LINMATH CRow(const FLOATTYPE *row);
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PUBLISHED:
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INLINE_LINMATH FLOATTYPE operator [](int i) const;
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INLINE_LINMATH static int size();
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INLINE_LINMATH operator const FLOATNAME(LVecBase4) &() const;
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public:
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const FLOATTYPE *_row;
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friend class FLOATNAME(LMatrix4);
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};
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INLINE_LINMATH FLOATNAME(LMatrix4)();
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INLINE_LINMATH FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4)(const FLOATNAME(UnalignedLMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator = (
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const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator = (
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const FLOATNAME(UnalignedLMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator = (FLOATTYPE fill_value);
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INLINE_LINMATH FLOATNAME(LMatrix4)(FLOATTYPE, FLOATTYPE, FLOATTYPE, FLOATTYPE,
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FLOATTYPE, FLOATTYPE, FLOATTYPE, FLOATTYPE,
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FLOATTYPE, FLOATTYPE, FLOATTYPE, FLOATTYPE,
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FLOATTYPE, FLOATTYPE, FLOATTYPE, FLOATTYPE);
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INLINE_LINMATH FLOATNAME(LMatrix4)(const FLOATNAME(LVecBase4) &,
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const FLOATNAME(LVecBase4) &,
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const FLOATNAME(LVecBase4) &,
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const FLOATNAME(LVecBase4) &);
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ALLOC_DELETED_CHAIN(FLOATNAME(LMatrix4));
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EXTENSION(INLINE_LINMATH PyObject *__reduce__(PyObject *self) const);
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// Construct a 4x4 matrix given a 3x3 rotation matrix and an optional
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// translation component.
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INLINE_LINMATH FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix3) &upper3);
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INLINE_LINMATH FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix3) &upper3,const FLOATNAME(LVecBase3) &trans);
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INLINE_LINMATH void fill(FLOATTYPE fill_value);
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INLINE_LINMATH void set(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e03,
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FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e13,
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FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22, FLOATTYPE e23,
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FLOATTYPE e30, FLOATTYPE e31, FLOATTYPE e32, FLOATTYPE e33);
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// Get and set the upper 3x3 rotation matrix.
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INLINE_LINMATH void set_upper_3(const FLOATNAME(LMatrix3) &upper3);
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INLINE_LINMATH FLOATNAME(LMatrix3) get_upper_3() const;
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INLINE_LINMATH CRow operator [](int i) const;
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INLINE_LINMATH Row operator [](int i);
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INLINE_LINMATH static int size();
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INLINE_LINMATH void set_row(int row, const FLOATNAME(LVecBase4) &v);
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INLINE_LINMATH void set_col(int col, const FLOATNAME(LVecBase4) &v);
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INLINE_LINMATH void set_row(int row, const FLOATNAME(LVecBase3) &v);
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INLINE_LINMATH void set_col(int col, const FLOATNAME(LVecBase3) &v);
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INLINE_LINMATH FLOATNAME(LVecBase4) get_row(int row) const;
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INLINE_LINMATH FLOATNAME(LVecBase4) get_col(int col) const;
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INLINE_LINMATH FLOATNAME(LVecBase3) get_row3(int row) const;
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MAKE_SEQ(get_rows, size, get_row);
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MAKE_SEQ(get_cols, size, get_col);
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MAKE_SEQ(get_row3s, size, get_row3);
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MAKE_SEQ_PROPERTY(rows, size, get_row);
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MAKE_SEQ_PROPERTY(cols, size, get_col);
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// these versions inline better
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INLINE_LINMATH void get_row(FLOATNAME(LVecBase4) &result_vec, int row) const;
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INLINE_LINMATH void get_row3(FLOATNAME(LVecBase3) &result_vec, int row) const;
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INLINE_LINMATH FLOATNAME(LVecBase3) get_col3(int col) const;
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INLINE_LINMATH FLOATTYPE &operator () (int row, int col);
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INLINE_LINMATH FLOATTYPE operator () (int row, int col) const;
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INLINE_LINMATH bool is_nan() const;
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INLINE_LINMATH bool is_identity() const;
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INLINE_LINMATH FLOATTYPE get_cell(int row, int col) const;
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INLINE_LINMATH void set_cell(int row, int col, FLOATTYPE value);
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INLINE_LINMATH const FLOATTYPE *get_data() const;
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INLINE_LINMATH int get_num_components() const;
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INLINE_LINMATH iterator begin();
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INLINE_LINMATH iterator end();
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INLINE_LINMATH const_iterator begin() const;
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INLINE_LINMATH const_iterator end() const;
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INLINE_LINMATH bool operator < (const FLOATNAME(LMatrix4) &other) const;
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INLINE_LINMATH bool operator == (const FLOATNAME(LMatrix4) &other) const;
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INLINE_LINMATH bool operator != (const FLOATNAME(LMatrix4) &other) const;
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INLINE_LINMATH int compare_to(const FLOATNAME(LMatrix4) &other) const;
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int compare_to(const FLOATNAME(LMatrix4) &other, FLOATTYPE threshold) const;
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INLINE_LINMATH size_t get_hash() const;
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INLINE_LINMATH size_t get_hash(FLOATTYPE threshold) const;
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INLINE_LINMATH size_t add_hash(size_t hash) const;
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INLINE_LINMATH size_t add_hash(size_t hash, FLOATTYPE threshold) const;
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INLINE_LINMATH FLOATNAME(LVecBase4)
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xform(const FLOATNAME(LVecBase4) &v) const;
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INLINE_LINMATH FLOATNAME(LVecBase3)
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xform_point(const FLOATNAME(LVecBase3) &v) const;
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INLINE_LINMATH FLOATNAME(LVecBase3)
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xform_point_general(const FLOATNAME(LVecBase3) &v) const;
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INLINE_LINMATH FLOATNAME(LVecBase3)
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xform_vec(const FLOATNAME(LVecBase3) &v) const;
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INLINE_LINMATH FLOATNAME(LVecBase3)
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xform_vec_general(const FLOATNAME(LVecBase3) &v) const;
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INLINE_LINMATH void
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xform_in_place(FLOATNAME(LVecBase4) &v) const;
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INLINE_LINMATH void
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xform_point_in_place(FLOATNAME(LVecBase3) &v) const;
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INLINE_LINMATH void
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xform_point_general_in_place(FLOATNAME(LVecBase3) &v) const;
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INLINE_LINMATH void
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xform_vec_in_place(FLOATNAME(LVecBase3) &v) const;
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INLINE_LINMATH void
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xform_vec_general_in_place(FLOATNAME(LVecBase3) &v) const;
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// this = other1 * other2
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INLINE_LINMATH void multiply(const FLOATNAME(LMatrix4) &other1, const FLOATNAME(LMatrix4) &other2);
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INLINE_LINMATH FLOATNAME(LMatrix4) operator * (const FLOATNAME(LMatrix4) &other) const;
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INLINE_LINMATH FLOATNAME(LMatrix4) operator * (FLOATTYPE scalar) const;
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INLINE_LINMATH FLOATNAME(LMatrix4) operator / (FLOATTYPE scalar) const;
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator += (const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator -= (const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator *= (const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator *= (FLOATTYPE scalar);
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INLINE_LINMATH FLOATNAME(LMatrix4) &operator /= (FLOATTYPE scalar);
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INLINE_LINMATH void componentwise_mult(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH void transpose_from(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH void transpose_in_place();
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INLINE_LINMATH bool invert_from(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH bool invert_affine_from(const FLOATNAME(LMatrix4) &other);
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INLINE_LINMATH bool invert_in_place();
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INLINE_LINMATH void accumulate(const FLOATNAME(LMatrix4) &other, FLOATTYPE weight);
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INLINE_LINMATH static const FLOATNAME(LMatrix4) &ident_mat();
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INLINE_LINMATH static const FLOATNAME(LMatrix4) &ones_mat();
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INLINE_LINMATH static const FLOATNAME(LMatrix4) &zeros_mat();
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INLINE_LINMATH void
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set_translate_mat(const FLOATNAME(LVecBase3) &trans);
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void
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set_rotate_mat(FLOATTYPE angle,
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const FLOATNAME(LVecBase3) &axis,
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CoordinateSystem cs = CS_default);
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void
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set_rotate_mat_normaxis(FLOATTYPE angle,
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const FLOATNAME(LVecBase3) &axis,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH void
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set_scale_mat(const FLOATNAME(LVecBase3) &scale);
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INLINE_LINMATH void
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set_shear_mat(const FLOATNAME(LVecBase3) &shear,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH void
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set_scale_shear_mat(const FLOATNAME(LVecBase3) &scale,
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const FLOATNAME(LVecBase3) &shear,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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translate_mat(const FLOATNAME(LVecBase3) &trans);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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translate_mat(FLOATTYPE tx, FLOATTYPE ty, FLOATTYPE tz);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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rotate_mat(FLOATTYPE angle,
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const FLOATNAME(LVecBase3) &axis,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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rotate_mat_normaxis(FLOATTYPE angle,
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const FLOATNAME(LVecBase3) &axis,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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scale_mat(const FLOATNAME(LVecBase3) &scale);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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scale_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz);
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INLINE_LINMATH static FLOATNAME(LMatrix4)
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scale_mat(FLOATTYPE scale);
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static INLINE_LINMATH FLOATNAME(LMatrix4)
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shear_mat(const FLOATNAME(LVecBase3) &shear,
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CoordinateSystem cs = CS_default);
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static INLINE_LINMATH FLOATNAME(LMatrix4)
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shear_mat(FLOATTYPE shxy, FLOATTYPE shxz, FLOATTYPE shyz,
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CoordinateSystem cs = CS_default);
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static INLINE_LINMATH FLOATNAME(LMatrix4)
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scale_shear_mat(const FLOATNAME(LVecBase3) &scale,
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const FLOATNAME(LVecBase3) &shear,
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CoordinateSystem cs = CS_default);
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static INLINE_LINMATH FLOATNAME(LMatrix4)
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scale_shear_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz,
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FLOATTYPE shxy, FLOATTYPE shxz, FLOATTYPE shyz,
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CoordinateSystem cs = CS_default);
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INLINE_LINMATH static const FLOATNAME(LMatrix4) &y_to_z_up_mat();
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INLINE_LINMATH static const FLOATNAME(LMatrix4) &z_to_y_up_mat();
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static const FLOATNAME(LMatrix4) &convert_mat(CoordinateSystem from,
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CoordinateSystem to);
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bool almost_equal(const FLOATNAME(LMatrix4) &other,
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FLOATTYPE threshold) const;
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INLINE_LINMATH bool almost_equal(const FLOATNAME(LMatrix4) &other) const;
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void output(std::ostream &out) const;
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void write(std::ostream &out, int indent_level = 0) const;
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EXTENSION(INLINE_LINMATH std::string __repr__() const);
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INLINE_LINMATH void generate_hash(ChecksumHashGenerator &hashgen) const;
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void generate_hash(ChecksumHashGenerator &hashgen, FLOATTYPE scale) const;
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void write_datagram_fixed(Datagram &destination) const;
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void read_datagram_fixed(DatagramIterator &scan);
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void write_datagram(Datagram &destination) const;
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void read_datagram(DatagramIterator &source);
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public:
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// The underlying implementation is via the Eigen library, if available.
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// Unlike LMatrix3, we fully align LMatrix4 to 16-byte boundaries, to take
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// advantage of SSE2 optimizations when available. Sometimes this alignment
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// requirement is inconvenient, so we also provide UnalignedLMatrix4, below.
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typedef LINMATH_MATRIX(FLOATTYPE, 4, 4) EMatrix4;
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EMatrix4 _m;
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INLINE_LINMATH FLOATNAME(LMatrix4)(const EMatrix4 &m) : _m(m) { }
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private:
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bool decompose_mat(int index[4]);
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bool back_sub_mat(int index[4], FLOATNAME(LMatrix4) &inv, int row) const;
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static const FLOATNAME(LMatrix4) _ident_mat;
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static const FLOATNAME(LMatrix4) _ones_mat;
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static const FLOATNAME(LMatrix4) _zeros_mat;
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static const FLOATNAME(LMatrix4) _y_to_z_up_mat;
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static const FLOATNAME(LMatrix4) _z_to_y_up_mat;
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static const FLOATNAME(LMatrix4) _flip_y_mat;
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static const FLOATNAME(LMatrix4) _flip_z_mat;
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static const FLOATNAME(LMatrix4) _lz_to_ry_mat;
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static const FLOATNAME(LMatrix4) _ly_to_rz_mat;
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type();
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|
||
|
|
private:
|
||
|
|
static TypeHandle _type_handle;
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
* This is an "unaligned" LMatrix4. It has no functionality other than to
|
||
|
|
* store numbers, and it will pack them in as tightly as possible, avoiding
|
||
|
|
* any SSE2 alignment requirements shared by the primary LMatrix4 class.
|
||
|
|
*
|
||
|
|
* Use it only when you need to pack numbers tightly without respect to
|
||
|
|
* alignment, and then copy it to a proper LMatrix4 to get actual use from it.
|
||
|
|
*/
|
||
|
|
class EXPCL_PANDA_LINMATH FLOATNAME(UnalignedLMatrix4) {
|
||
|
|
PUBLISHED:
|
||
|
|
enum {
|
||
|
|
num_components = 16
|
||
|
|
};
|
||
|
|
|
||
|
|
INLINE_LINMATH FLOATNAME(UnalignedLMatrix4)();
|
||
|
|
INLINE_LINMATH FLOATNAME(UnalignedLMatrix4)(const FLOATNAME(LMatrix4) ©);
|
||
|
|
INLINE_LINMATH FLOATNAME(UnalignedLMatrix4)(const FLOATNAME(UnalignedLMatrix4) ©);
|
||
|
|
INLINE_LINMATH FLOATNAME(UnalignedLMatrix4) &operator = (const FLOATNAME(LMatrix4) ©);
|
||
|
|
INLINE_LINMATH FLOATNAME(UnalignedLMatrix4) &operator = (const FLOATNAME(UnalignedLMatrix4) ©);
|
||
|
|
INLINE_LINMATH FLOATNAME(UnalignedLMatrix4)(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e03,
|
||
|
|
FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e13,
|
||
|
|
FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22, FLOATTYPE e23,
|
||
|
|
FLOATTYPE e30, FLOATTYPE e31, FLOATTYPE e32, FLOATTYPE e33);
|
||
|
|
|
||
|
|
INLINE_LINMATH void set(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e03,
|
||
|
|
FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e13,
|
||
|
|
FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22, FLOATTYPE e23,
|
||
|
|
FLOATTYPE e30, FLOATTYPE e31, FLOATTYPE e32, FLOATTYPE e33);
|
||
|
|
|
||
|
|
INLINE_LINMATH FLOATTYPE &operator () (int row, int col);
|
||
|
|
INLINE_LINMATH FLOATTYPE operator () (int row, int col) const;
|
||
|
|
|
||
|
|
INLINE_LINMATH const FLOATTYPE *get_data() const;
|
||
|
|
INLINE_LINMATH int get_num_components() const;
|
||
|
|
|
||
|
|
INLINE_LINMATH bool operator == (const FLOATNAME(UnalignedLMatrix4) &other) const;
|
||
|
|
INLINE_LINMATH bool operator != (const FLOATNAME(UnalignedLMatrix4) &other) const;
|
||
|
|
|
||
|
|
public:
|
||
|
|
typedef UNALIGNED_LINMATH_MATRIX(FLOATTYPE, 4, 4) UMatrix4;
|
||
|
|
UMatrix4 _m;
|
||
|
|
|
||
|
|
public:
|
||
|
|
static TypeHandle get_class_type() {
|
||
|
|
return _type_handle;
|
||
|
|
}
|
||
|
|
static void init_type();
|
||
|
|
|
||
|
|
private:
|
||
|
|
static TypeHandle _type_handle;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
INLINE std::ostream &operator << (std::ostream &out, const FLOATNAME(LMatrix4) &mat) {
|
||
|
|
mat.output(out);
|
||
|
|
return out;
|
||
|
|
}
|
||
|
|
|
||
|
|
BEGIN_PUBLISH
|
||
|
|
INLINE_LINMATH FLOATNAME(LMatrix4) transpose(const FLOATNAME(LMatrix4) &a);
|
||
|
|
INLINE_LINMATH FLOATNAME(LMatrix4) invert(const FLOATNAME(LMatrix4) &a);
|
||
|
|
END_PUBLISH
|
||
|
|
|
||
|
|
#include "lmatrix4_src.I"
|