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IsoMatrix3D.h

/***************************************************************************
 *   Copyright (C) 2006 by Abderrahman Taha                                *
 *                                                                         *
 *                                                                         *
 *   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.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA            *
 ***************************************************************************/


#include <math.h>

class IsoMatrix3D {
public:
    double xx, xy, xz, xo;
    double yx, yy, yz, yo;
    double zx, zy, zz, zo;
    double wx, wy, wz, wo;
    double pi;
    public:
    IsoMatrix3D();
  inline  void scale(double );
  inline  void scale_2(double, double, double);
  inline  void translate(double, double, double);
  inline  void yrot(double);
  inline  void xrot(double);
  inline  void zrot(double);
  inline  void mult(IsoMatrix3D);
  inline  void unit();
    void transform(double*, double*, int);
    void CalcProdVect(double*, double*, double*);
    double  prodscalaire(double*, double*);
};
 inline   void IsoMatrix3D::mult(IsoMatrix3D rhs) {
      double lxx = xx * rhs.xx + yx * rhs.xy + zx * rhs.xz;
      double lxy = xy * rhs.xx + yy * rhs.xy + zy * rhs.xz;
      double lxz = xz * rhs.xx + yz * rhs.xy + zz * rhs.xz;
      double lxo = xo * rhs.xx + yo * rhs.xy + zo * rhs.xz + rhs.xo;

      double lyx = xx * rhs.yx + yx * rhs.yy + zx * rhs.yz;
      double lyy = xy * rhs.yx + yy * rhs.yy + zy * rhs.yz;
      double lyz = xz * rhs.yx + yz * rhs.yy + zz * rhs.yz;
      double lyo = xo * rhs.yx + yo * rhs.yy + zo * rhs.yz + rhs.yo;

      double lzx = xx * rhs.zx + yx * rhs.zy + zx * rhs.zz;
      double lzy = xy * rhs.zx + yy * rhs.zy + zy * rhs.zz;
      double lzz = xz * rhs.zx + yz * rhs.zy + zz * rhs.zz;
      double lzo = xo * rhs.zx + yo * rhs.zy + zo * rhs.zz + rhs.zo;

      xx = lxx;
      xy = lxy;
      xz = lxz;
      xo = lxo;

      yx = lyx;
      yy = lyy;
      yz = lyz;
      yo = lyo;

      zx = lzx;
      zy = lzy;
      zz = lzz;
      zo = lzo;
    }

    /** Scale by f in all dimensions */
   inline void IsoMatrix3D::scale(double f) {
      xx *= f;
      xy *= f;
      xz *= f;
      xo *= f;
      yx *= f;
      yy *= f;
      yz *= f;
      yo *= f;
      zx *= f;
      zy *= f;
      zz *= f;
      zo *= f;
    }
    /** Scale along each axis independently */
   inline void IsoMatrix3D::scale_2(double xf, double yf, double zf) {
      xx *= xf;
      xy *= xf;
      xz *= xf;
      xo *= xf;
      yx *= yf;
      yy *= yf;
      yz *= yf;
      yo *= yf;
      zx *= zf;
      zy *= zf;
      zz *= zf;
      zo *= zf;
    }
    /** Translate the origin */
   inline void IsoMatrix3D::translate(double x, double y, double z) {
      xo += x;
      yo += y;
      zo += z;
    }
    /** rotate theta degrees about the y axis */
   inline void IsoMatrix3D::yrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nxx = (double) (xx * ct + zx * st);
      double Nxy = (double) (xy * ct + zy * st);
      double Nxz = (double) (xz * ct + zz * st);
      double Nxo = (double) (xo * ct + zo * st);

      double Nzx = (double) (zx * ct - xx * st);
      double Nzy = (double) (zy * ct - xy * st);
      double Nzz = (double) (zz * ct - xz * st);
      double Nzo = (double) (zo * ct - xo * st);

      xo = Nxo;
      xx = Nxx;
      xy = Nxy;
      xz = Nxz;
      zo = Nzo;
      zx = Nzx;
      zy = Nzy;
      zz = Nzz;
    }
    /** rotate theta degrees about the x axis */
   inline void IsoMatrix3D::xrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nyx = (double) (yx * ct + zx * st);
      double Nyy = (double) (yy * ct + zy * st);
      double Nyz = (double) (yz * ct + zz * st);
      double Nyo = (double) (yo * ct + zo * st);

      double Nzx = (double) (zx * ct - yx * st);
      double Nzy = (double) (zy * ct - yy * st);
      double Nzz = (double) (zz * ct - yz * st);
      double Nzo = (double) (zo * ct - yo * st);

      yo = Nyo;
      yx = Nyx;
      yy = Nyy;
      yz = Nyz;
      zo = Nzo;
      zx = Nzx;
      zy = Nzy;
      zz = Nzz;
    }
    /** rotate theta degrees about the z axis */
   inline void IsoMatrix3D::zrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nyx = (double) (yx * ct + xx * st);
      double Nyy = (double) (yy * ct + xy * st);
      double Nyz = (double) (yz * ct + xz * st);
      double Nyo = (double) (yo * ct + xo * st);

      double Nxx = (double) (xx * ct - yx * st);
      double Nxy = (double) (xy * ct - yy * st);
      double Nxz = (double) (xz * ct - yz * st);
      double Nxo = (double) (xo * ct - yo * st);

      yo = Nyo;
      yx = Nyx;
      yy = Nyy;
      yz = Nyz;
      xo = Nxo;
      xx = Nxx;
      xy = Nxy;
      xz = Nxz;
    }
    /** Multiply this matrix by a second: M = M*R */


    /** Reinitialize to the unit matrix */
   inline void IsoMatrix3D::unit() {
      xo = 0;
      xx = 1;
      xy = 0;
      xz = 0;
      yo = 0;
      yx = 0;
      yy = 1;
      yz = 0;
      zo = 0;
      zx = 0;
      zy = 0;
      zz = 1;
      wx = 0;
      wy = 0;
      wz = 0;
      wo = 1;
    }


   inline  void IsoMatrix3D::transform(double* v,double*  tv, int nvert) {
      double lxx = xx, lxy = xy, lxz = xz, lxo = xo;
      double lyx = yx, lyy = yy, lyz = yz, lyo = yo;
      double lzx = zx, lzy = zy, lzz = zz, lzo = zo;
      for (int i = nvert * 3; (i -= 3) >= 0;) {
          double x = v[i];
          double y = v[i + 1];
          double z = v[i + 2];
          tv[i    ] = (x * lxx + y * lxy + z * lxz + lxo);
          tv[i + 1] = (x * lyx + y * lyy + z * lyz + lyo);
          tv[i + 2] = (x * lzx + y * lzy + z * lzz + lzo);
      }
    }

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