VTK  9.2.6
vtkMatrix4x4.h
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1/*=========================================================================
2
3 Program: Visualization Toolkit
4 Module: vtkMatrix4x4.h
5
6 Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
7 All rights reserved.
8 See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
9
10 This software is distributed WITHOUT ANY WARRANTY; without even
11 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
12 PURPOSE. See the above copyright notice for more information.
13
14=========================================================================*/
29#ifndef vtkMatrix4x4_h
30#define vtkMatrix4x4_h
31
32#include "vtkCommonMathModule.h" // For export macro
33#include "vtkObject.h"
34
35class VTKCOMMONMATH_EXPORT vtkMatrix4x4 : public vtkObject
36{
37public:
39 double Element[4][4];
40
44 static vtkMatrix4x4* New();
45
46 vtkTypeMacro(vtkMatrix4x4, vtkObject);
47 void PrintSelf(ostream& os, vtkIndent indent) override;
48
54 {
55 vtkMatrix4x4::DeepCopy(*this->Element, source);
56 this->Modified();
57 }
58
63 static void DeepCopy(double destination[16], const vtkMatrix4x4* source)
64 {
65 vtkMatrix4x4::DeepCopy(destination, *source->Element);
66 }
67
72 static void DeepCopy(double destination[16], const double source[16]);
73
78 void DeepCopy(const double elements[16])
79 {
80 this->DeepCopy(*this->Element, elements);
81 this->Modified();
82 }
83
87 void Zero()
88 {
89 vtkMatrix4x4::Zero(*this->Element);
90 this->Modified();
91 }
92 static void Zero(double elements[16]);
93
97 void Identity()
98 {
99 vtkMatrix4x4::Identity(*this->Element);
100 this->Modified();
101 }
102 static void Identity(double elements[16]);
103
107 bool IsIdentity();
108
113 static void Invert(const vtkMatrix4x4* in, vtkMatrix4x4* out)
114 {
116 out->Modified();
117 }
118 void Invert() { vtkMatrix4x4::Invert(this, this); }
119 static void Invert(const double inElements[16], double outElements[16]);
120
124 static void Transpose(const vtkMatrix4x4* in, vtkMatrix4x4* out)
125 {
127 out->Modified();
128 }
129 void Transpose() { vtkMatrix4x4::Transpose(this, this); }
130 static void Transpose(const double inElements[16], double outElements[16]);
131
133
136 static void MatrixFromRotation(double angle, double x, double y, double z, vtkMatrix4x4* result);
137 static void MatrixFromRotation(double angle, double x, double y, double z, double matrix[16]);
139
146 static void PoseToMatrix(double pos[3], double ori[4], vtkMatrix4x4* mat);
147
152 void MultiplyPoint(const float in[4], float out[4])
153 {
154 vtkMatrix4x4::MultiplyPoint(*this->Element, in, out);
155 }
156 void MultiplyPoint(const double in[4], double out[4])
157 {
158 vtkMatrix4x4::MultiplyPoint(*this->Element, in, out);
159 }
160
161 static void MultiplyPoint(const double elements[16], const float in[4], float out[4]);
162 static void MultiplyPoint(const double elements[16], const double in[4], double out[4]);
163
167 float* MultiplyPoint(const float in[4]) VTK_SIZEHINT(4) { return this->MultiplyFloatPoint(in); }
168 double* MultiplyPoint(const double in[4]) VTK_SIZEHINT(4)
169 {
170 return this->MultiplyDoublePoint(in);
171 }
172 float* MultiplyFloatPoint(const float in[4]) VTK_SIZEHINT(4)
173 {
174 this->MultiplyPoint(in, this->FloatPoint);
175 return this->FloatPoint;
176 }
177 double* MultiplyDoublePoint(const double in[4]) VTK_SIZEHINT(4)
178 {
179 this->MultiplyPoint(in, this->DoublePoint);
180 return this->DoublePoint;
181 }
182
184
187 static void Multiply4x4(const vtkMatrix4x4* a, const vtkMatrix4x4* b, vtkMatrix4x4* c);
188 static void Multiply4x4(const double a[16], const double b[16], double c[16]);
189 static void Multiply4x4(const double a[16], const double b[16], float c[16]);
190 static void MultiplyAndTranspose4x4(const double a[16], const double b[16], float c[16]);
192
196 void Adjoint(const vtkMatrix4x4* in, vtkMatrix4x4* out)
197 {
199 }
200 static void Adjoint(const double inElements[16], double outElements[16]);
201
205 double Determinant() { return vtkMatrix4x4::Determinant(*this->Element); }
206 static double Determinant(const double elements[16]);
207
211 void SetElement(int i, int j, double value);
212
216 double GetElement(int i, int j) const { return this->Element[i][j]; }
217
221 double* GetData() { return *this->Element; }
222
226 const double* GetData() const { return *this->Element; }
227
228protected:
230 ~vtkMatrix4x4() override = default;
231
232 float FloatPoint[4];
233 double DoublePoint[4];
234
235private:
236 vtkMatrix4x4(const vtkMatrix4x4&) = delete;
237 void operator=(const vtkMatrix4x4&) = delete;
238};
239
240//----------------------------------------------------------------------------
241// Multiplies matrices a and b and stores the result in c.
242inline void vtkMatrix4x4::Multiply4x4(const double a[16], const double b[16], double c[16])
243{
244 double tmp[16];
245
246 for (int i = 0; i < 16; i += 4)
247 {
248 for (int j = 0; j < 4; j++)
249 {
250 tmp[i + j] =
251 a[i + 0] * b[j + 0] + a[i + 1] * b[j + 4] + a[i + 2] * b[j + 8] + a[i + 3] * b[j + 12];
252 }
253 }
254
255 for (int k = 0; k < 16; k++)
256 {
257 c[k] = tmp[k];
258 }
259}
260
261//----------------------------------------------------------------------------
262// Multiplies matrices a and b and stores the result in c.
263inline void vtkMatrix4x4::Multiply4x4(const double a[16], const double b[16], float c[16])
264{
265 for (int i = 0; i < 16; i += 4)
266 {
267 for (int j = 0; j < 4; j++)
268 {
269 c[i + j] =
270 a[i + 0] * b[j + 0] + a[i + 1] * b[j + 4] + a[i + 2] * b[j + 8] + a[i + 3] * b[j + 12];
271 }
272 }
273}
274
275//----------------------------------------------------------------------------
276// Multiplies matrices a and b and stores the result in c.
278 const double a[16], const double b[16], float c[16])
279{
280 for (int i = 0; i < 4; i++)
281 {
282 for (int j = 0; j < 4; j++)
283 {
284 int it4 = i * 4;
285 c[i + j * 4] = a[it4 + 0] * b[j + 0] + a[it4 + 1] * b[j + 4] + a[it4 + 2] * b[j + 8] +
286 a[it4 + 3] * b[j + 12];
287 }
288 }
289}
290
291//----------------------------------------------------------------------------
293{
295}
296
297//----------------------------------------------------------------------------
298inline void vtkMatrix4x4::SetElement(int i, int j, double value)
299{
300 if (this->Element[i][j] != value)
301 {
302 this->Element[i][j] = value;
303 this->Modified();
304 }
305}
306
307//----------------------------------------------------------------------------
309{
310 double* M = *this->Element;
311 return M[0] == 1.0 && M[1] == 0.0 && M[2] == 0.0 && M[3] == 0.0 && M[4] == 0.0 && M[5] == 1.0 &&
312 M[6] == 0.0 && M[7] == 0.0 && M[8] == 0.0 && M[9] == 0.0 && M[10] == 1.0 && M[11] == 0.0 &&
313 M[12] == 0.0 && M[13] == 0.0 && M[14] == 0.0 && M[15] == 1.0;
314}
315
316#endif
a simple class to control print indentation
Definition vtkIndent.h:34
represent and manipulate 4x4 transformation matrices
static void Transpose(const double inElements[16], double outElements[16])
static double Determinant(const double elements[16])
void DeepCopy(const vtkMatrix4x4 *source)
Set the elements of the matrix to the same values as the elements of the given source matrix.
static vtkMatrix4x4 * New()
Construct a 4x4 identity matrix.
void DeepCopy(const double elements[16])
Non-static member function.
double GetElement(int i, int j) const
Returns the element i,j from the matrix.
static void MatrixFromRotation(double angle, double x, double y, double z, double matrix[16])
Construct a matrix from a rotation.
double * MultiplyDoublePoint(const double in[4])
void PrintSelf(ostream &os, vtkIndent indent) override
Methods invoked by print to print information about the object including superclasses.
static void Multiply4x4(const vtkMatrix4x4 *a, const vtkMatrix4x4 *b, vtkMatrix4x4 *c)
Multiplies matrices a and b and stores the result in c.
void MultiplyPoint(const double in[4], double out[4])
static void Adjoint(const double inElements[16], double outElements[16])
void MultiplyPoint(const float in[4], float out[4])
Multiply a homogeneous coordinate by this matrix, i.e.
void Adjoint(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
Compute adjoint of the matrix and put it into out.
void Identity()
Set equal to Identity matrix.
static void MatrixFromRotation(double angle, double x, double y, double z, vtkMatrix4x4 *result)
Construct a matrix from a rotation.
double Determinant()
Compute the determinant of the matrix and return it.
void SetElement(int i, int j, double value)
Sets the element i,j in the matrix.
static void DeepCopy(double destination[16], const vtkMatrix4x4 *source)
Set the elements of the given destination buffer to the same values as the elements of the given sour...
void Zero()
Set all of the elements to zero.
double * GetData()
Returns the raw double array holding the matrix.
double Element[4][4]
The internal data is public for historical reasons. Do not use!
static void MultiplyAndTranspose4x4(const double a[16], const double b[16], float c[16])
Multiplies matrices a and b and stores the result in c.
static void DeepCopy(double destination[16], const double source[16])
Copies the given source buffer to the given destination buffer.
static void Invert(const double inElements[16], double outElements[16])
static void Invert(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
Matrix Inversion (adapted from Richard Carling in "Graphics Gems," Academic Press,...
static void PoseToMatrix(double pos[3], double ori[4], vtkMatrix4x4 *mat)
Given an orientation and position this function will fill in a matrix representing the transformation...
float * MultiplyPoint(const float in[4])
For use in Java or Python.
double * MultiplyPoint(const double in[4])
float * MultiplyFloatPoint(const float in[4])
static void Identity(double elements[16])
static void MultiplyPoint(const double elements[16], const double in[4], double out[4])
static void Zero(double elements[16])
static void Transpose(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
Transpose the matrix and put it into out.
const double * GetData() const
Returns the raw double array holding the matrix.
~vtkMatrix4x4() override=default
static void MultiplyPoint(const double elements[16], const float in[4], float out[4])
bool IsIdentity()
Returns true if this matrix is equal to the identity matrix.
abstract base class for most VTK objects
Definition vtkObject.h:57
virtual void Modified()
Update the modification time for this object.
boost::graph_traits< vtkGraph * >::vertex_descriptor source(boost::graph_traits< vtkGraph * >::edge_descriptor e, vtkGraph *)
#define VTK_SIZEHINT(...)