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492 lines
13 KiB
C++
492 lines
13 KiB
C++
/* ResidualVM - A 3D game interpreter
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*
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* ResidualVM is the legal property of its developers, whose names
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* are too numerous to list here. Please refer to the COPYRIGHT
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* file distributed with this source distribution.
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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*/
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#ifndef MATH_MATRIX_H
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#define MATH_MATRIX_H
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#include <string.h>
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#include <assert.h>
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#include "common/streamdebug.h"
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/**
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* \namespace Math.
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* This namespace contains some useful classes dealing with math and geometry.
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*
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* The most important classes are Matrix and its base classes.
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* MatrixBase is a template class which is the base of all the matrices with
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* many convenient functions.
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* MatrixType is an intermediate class that, using template specialization,
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* is able to create different kinds of matrices, like vectors or
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* square matrices.
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* Matrix is the actual matrix class and it is derived from MatrixType.
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*
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* MatrixBase and MatrixType have their constructors protected, so they can't
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* be instantiated. But while MatrixBase is just a backend class, MatrixType
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* can be used to create new kinds of matrices:
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* \code
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template<int dim>
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class MatrixType<1, dim> : public MatrixBase<1, dim> {
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...
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};
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* \endcode
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* Given that declaration, every Matrix<1, dim>, with "dim" whatever positive
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* number, will have the methods and members defined in MatrixType<1, dim>.
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*
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* This design allows us to have the equality of, say, the class "three-dimensional
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* vector" and Matrix<3, 1>. Vector3d is not <b>a</b> Matrix<3, 1>, it <b>is</b> Matrix<3, 1>.
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* Every method in MatrixBase and MatrixType returning a matrix returns a Matrix<\r, c>,
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* and not a MatrixBase<\r, c>. This reduces code duplication, since otherwise many
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* functions declared for Matrix would need to be declared for MatrixBase too,
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* like many operators.
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*/
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namespace Math {
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template<int rows, int cols> class Matrix;
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/**
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* \class MatrixBase
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* The base class for all the matrices.
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*/
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template<int rows, int cols>
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class MatrixBase {
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public:
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/**
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* Convenient class for feeding a matrix.
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*/
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class Row {
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public:
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Row &operator=(const Row &r);
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Row &operator<<(float value);
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private:
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Row(MatrixBase<rows, cols> *m, int row);
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MatrixBase<rows, cols> *_matrix;
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int _row;
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int _col;
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friend class MatrixBase<rows, cols>;
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};
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/**
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* Returns true if this matrix's values are all 0.
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*/
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bool isZero() const;
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Matrix<rows, cols> getNegative() const;
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/**
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* Returns an instance of Row for a particular row of this matrix.
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* Row is a convenient class for feeding a matrix.
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* \code
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Matrix<3, 3> m;
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m.getRow(0) << 0 << 0 << 0;
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m.getRow(1) << 1 << 2 << 0;
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m.getRow(2) << 0 << 0.5 << 1;
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* \endcode
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*
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* \param row The row to be feeded.
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*/
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Row getRow(int row);
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/**
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* Returns a pointer to the internal data of this matrix.
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*/
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inline float *getData();
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/**
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* Returns a pointer to the internal data of this matrix.
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*/
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inline const float *getData() const;
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/**
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* Sets the internal data of this matrix.
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*/
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void setData(const float *data);
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inline float getValue(int row, int col) const;
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inline void setValue(int row, int col, float value);
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inline float &operator()(int row, int col);
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inline float operator()(int row, int col) const;
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inline operator const Matrix<rows, cols>&() const { return getThis(); }
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inline operator Matrix<rows, cols>&() { return getThis(); }
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static Matrix<rows, cols> sum(const Matrix<rows, cols> &m1, const Matrix<rows, cols> &m2);
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static Matrix<rows, cols> difference(const Matrix<rows, cols> &m1, const Matrix<rows, cols> &m2);
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static Matrix<rows, cols> product(const Matrix<rows, cols> &m1, float factor);
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static Matrix<rows, cols> quotient(const Matrix<rows, cols> &m1, float factor);
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Matrix<rows, cols> &operator=(const Matrix<rows, cols> &m);
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Matrix<rows, cols> &operator+=(const Matrix<rows, cols> &m);
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Matrix<rows, cols> &operator-=(const Matrix<rows, cols> &m);
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Matrix<rows, cols> &operator*=(float factor);
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Matrix<rows, cols> &operator/=(float factor);
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protected:
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MatrixBase();
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MatrixBase(const float *data);
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MatrixBase(const MatrixBase<rows, cols> &m);
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inline const Matrix<rows, cols> &getThis() const {
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return *static_cast<const Matrix<rows, cols> *>(this); }
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inline Matrix<rows, cols> &getThis() {
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return *static_cast<Matrix<rows, cols> *>(this); }
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private:
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float _values[rows * cols];
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};
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/**
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* \class MatrixType
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* MatrixType is a class used to create different kinds of matrices.
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*/
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template<int r, int c>
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class MatrixType : public MatrixBase<r, c> {
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protected:
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MatrixType() : MatrixBase<r, c>() { }
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MatrixType(const float *data) : MatrixBase<r, c>(data) { }
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MatrixType(const MatrixBase<r, c> &m) : MatrixBase<r, c>(m) { }
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};
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#define Vector(dim) Matrix<dim, 1>
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/**
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* \class Matrix The actual Matrix class.
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* This template class must be instantiated passing it the number of the rows
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* and the number of the columns.
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*/
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template<int r, int c>
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class Matrix : public MatrixType<r, c> {
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public:
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Matrix() : MatrixType<r, c>() { }
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Matrix(const float *data) : MatrixType<r, c>(data) { }
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Matrix(const MatrixBase<r, c> &m) : MatrixType<r, c>(m) { }
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};
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template <int m, int n, int p>
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Matrix<m, n> operator*(const Matrix<m, p> &m1, const Matrix<p, n> &m2);
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template <int r, int c>
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inline Matrix<r, c> operator+(const Matrix<r, c> &m1, const Matrix<r, c> &m2);
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template <int r, int c>
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inline Matrix<r, c> operator-(const Matrix<r, c> &m1, const Matrix<r, c> &m2);
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template <int r, int c>
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inline Matrix<r, c> operator*(const Matrix<r, c> &m1, float factor);
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template <int r, int c>
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inline Matrix<r, c> operator/(const Matrix<r, c> &m1, float factor);
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template <int r, int c>
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Matrix<r, c> operator*(float factor, const Matrix<r, c> &m1);
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template <int r, int c>
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Matrix<r, c> operator-(const Matrix<r, c> &m);
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template <int r, int c>
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bool operator==(const Matrix<r, c> &m1, const Matrix<r, c> &m2);
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template <int r, int c>
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bool operator!=(const Matrix<r, c> &m1, const Matrix<r, c> &m2);
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// Constructors
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template<int rows, int cols>
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MatrixBase<rows, cols>::MatrixBase() {
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for (int i = 0; i < rows * cols; ++i) {
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_values[i] = 0.f;
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}
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}
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template<int rows, int cols>
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MatrixBase<rows, cols>::MatrixBase(const float *data) {
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setData(data);
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}
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template<int rows, int cols>
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MatrixBase<rows, cols>::MatrixBase(const MatrixBase<rows, cols> &m) {
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setData(m._values);
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}
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// Data management
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template<int rows, int cols>
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float *MatrixBase<rows, cols>::getData() {
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return _values;
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}
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template<int rows, int cols>
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const float *MatrixBase<rows, cols>::getData() const {
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return _values;
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}
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template<int rows, int cols>
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void MatrixBase<rows, cols>::setData(const float *data) {
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::memcpy(_values, data, rows * cols * sizeof(float));
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}
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template<int rows, int cols>
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float MatrixBase<rows, cols>::getValue(int row, int col) const {
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assert(rows > row && cols > col && row >= 0 && col >= 0);
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return _values[row * cols + col];
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}
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template<int rows, int cols>
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void MatrixBase<rows, cols>::setValue(int row, int col, float v) {
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operator()(row, col) = v;
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}
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// Operations helpers
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template<int rows, int cols>
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bool MatrixBase<rows, cols>::isZero() const {
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for (int i = 0; i < rows * cols; ++i) {
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if (_values[i] != 0.f) {
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return false;
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}
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}
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return true;
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}
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template <int r, int c>
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Matrix<r, c> MatrixBase<r, c>::getNegative() const {
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Matrix<r, c> result;
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for (int i = 0; i < r * c; ++i) {
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result._values[i] = -_values[i];
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}
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return result;
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}
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template <int r, int c>
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Matrix<r, c> MatrixBase<r, c>::sum(const Matrix<r, c> &m1, const Matrix<r, c> &m2) {
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Matrix<r, c> result;
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for (int i = 0; i < r * c; ++i) {
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result._values[i] = m1._values[i] + m2._values[i];
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}
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return result;
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}
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template <int r, int c>
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Matrix<r, c> MatrixBase<r, c>::difference(const Matrix<r, c> &m1, const Matrix<r, c> &m2) {
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Matrix<r, c> result;
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for (int i = 0; i < r * c; ++i) {
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result._values[i] = m1._values[i] - m2._values[i];
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}
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return result;
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}
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template <int r, int c>
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Matrix<r, c> MatrixBase<r, c>::product(const Matrix<r, c> &m1, float factor) {
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Matrix<r, c> result;
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for (int i = 0; i < r * c; ++i) {
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result._values[i] = m1._values[i] * factor;
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}
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return result;
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}
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template <int r, int c>
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Matrix<r, c> MatrixBase<r, c>::quotient(const Matrix<r, c> &m1, float factor) {
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Matrix<r, c> result;
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for (int i = 0; i < r * c; ++i) {
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result._values[i] = m1._values[i] / factor;
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}
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return result;
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}
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// Member operators
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template<int rows, int cols>
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float &MatrixBase<rows, cols>::operator()(int row, int col) {
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assert(rows > row && cols > col && row >= 0 && col >= 0);
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return _values[row * cols + col];
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}
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template<int rows, int cols>
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float MatrixBase<rows, cols>::operator()(int row, int col) const {
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return getValue(row, col);
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}
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template<int rows, int cols>
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Matrix<rows, cols> &MatrixBase<rows, cols>::operator=(const Matrix<rows, cols> &m) {
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setData(m._values);
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return getThis();
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}
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template<int rows, int cols>
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Matrix<rows, cols> &MatrixBase<rows, cols>::operator+=(const Matrix<rows, cols> &m) {
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for (int i = 0; i < rows * cols; ++i) {
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_values[i] += m._values[i];
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}
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return getThis();
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}
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template<int rows, int cols>
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Matrix<rows, cols> &MatrixBase<rows, cols>::operator-=(const Matrix<rows, cols> &m) {
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for (int i = 0; i < rows * cols; ++i) {
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_values[i] -= m._values[i];
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}
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return getThis();
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}
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template<int rows, int cols>
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Matrix<rows, cols> &MatrixBase<rows, cols>::operator*=(float factor) {
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for (int i = 0; i < rows * cols; ++i) {
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_values[i] *= factor;
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}
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return getThis();
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}
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template<int rows, int cols>
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Matrix<rows, cols> &MatrixBase<rows, cols>::operator/=(float factor) {
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for (int i = 0; i < rows * cols; ++i) {
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_values[i] /= factor;
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}
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return getThis();
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}
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// Row
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template<int rows, int cols>
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typename MatrixBase<rows, cols>::Row MatrixBase<rows, cols>::getRow(int row) {
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return Row(this, row);
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}
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template<int rows, int cols>
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MatrixBase<rows, cols>::Row::Row(MatrixBase<rows, cols> *m, int row) :
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_matrix(m), _row(row), _col(0) {
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}
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template<int rows, int cols>
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typename MatrixBase<rows, cols>::Row &MatrixBase<rows, cols>::Row::operator=(const Row &r) {
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_col = r._col;
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_row = r._row;
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_matrix = r._matrix;
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return *this;
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}
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template<int rows, int cols>
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typename MatrixBase<rows, cols>::Row &MatrixBase<rows, cols>::Row::operator<<(float value) {
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assert(_col < cols);
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_matrix->setValue(_row, _col++, value);
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return *this;
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}
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// Global operators
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template <int m, int n, int p>
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Matrix<m, n> operator*(const Matrix<m, p> &m1, const Matrix<p, n> &m2) {
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Matrix<m, n> result;
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for (int row = 0; row < m; ++row) {
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for (int col = 0; col < n; ++col) {
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float sum(0.0f);
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for (int j = 0; j < p; ++j)
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sum += m1(row, j) * m2(j, col);
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result(row, col) = sum;
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}
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}
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return result;
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}
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template <int r, int c>
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inline Matrix<r, c> operator+(const Matrix<r, c> &m1, const Matrix<r, c> &m2) {
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return Matrix<r, c>::sum(m1, m2);
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}
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template <int r, int c>
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inline Matrix<r, c> operator-(const Matrix<r, c> &m1, const Matrix<r, c> &m2) {
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return Matrix<r, c>::difference(m1, m2);
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}
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template <int r, int c>
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inline Matrix<r, c> operator*(const Matrix<r, c> &m1, float factor) {
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return Matrix<r, c>::product(m1, factor);
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}
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template <int r, int c>
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inline Matrix<r, c> operator/(const Matrix<r, c> &m1, float factor) {
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return Matrix<r, c>::quotient(m1, factor);
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}
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template <int r, int c>
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Matrix<r, c> operator*(float factor, const Matrix<r, c> &m1) {
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return Matrix<r, c>::product(m1, factor);
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}
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template <int r, int c>
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Matrix<r, c> operator-(const Matrix<r, c> &m) {
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return m.getNegative();
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}
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template <int r, int c>
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bool operator==(const Matrix<r, c> &m1, const Matrix<r, c> &m2) {
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for (int row = 0; row < r; ++row) {
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for (int col = 0; col < c; ++col) {
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if (m1(row, col) != m2(row, col)) {
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return false;
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}
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}
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}
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return true;
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}
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template <int r, int c>
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bool operator!=(const Matrix<r, c> &m1, const Matrix<r, c> &m2) {
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return !(m1 == m2);
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}
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template<int r, int c>
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Common::Debug &operator<<(Common::Debug dbg, const Math::Matrix<r, c> &m) {
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dbg.nospace() << "Matrix<" << r << ", " << c << ">(";
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for (int col = 0; col < c; ++col) {
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dbg << m(0, col) << ", ";
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}
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for (int row = 1; row < r; ++row) {
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dbg << "\n ";
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for (int col = 0; col < c; ++col) {
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dbg << m(row, col) << ", ";
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}
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}
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dbg << ')';
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return dbg.space();
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}
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}
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#endif
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