GlsMatrixAffineD Class Reference

#include <gls_matrix_affine_double.h>

Public Types
enum	RotationAxis { ROTATION_AXIS_X, ROTATION_AXIS_Y, ROTATION_AXIS_Z }
typedef GlsFloat64	CStyleMatrix[DIMENSION][DIMENSION]
typedef GLfloat	GLMatrixAffineF[DIMENSION *DIMENSION]

Public Member Functions
	GlsMatrixAffineD (void)
	GlsMatrixAffineD (const GlsMatrixAffineD &m)
	GlsMatrixAffineD (const CStyleMatrix &m)
	~GlsMatrixAffineD ()
void	SetMatrix (const GlsMatrixAffineD &m)
void	SetElement (const GlsUInt32 row, const GlsUInt32 col, const GlsFloat64 val)
GlsFloat64	GetElement (const GlsUInt32 row, const GlsUInt32 col) const
void	LeftMultiply (const GlsMatrixAffineD &m)
void	RightMultiply (const GlsMatrixAffineD &m)
void	Rotate (const GlsFloat64 angle, const RotationAxis rotationAxis)
void	Translate (const GlsVector3D &v)
void	PopulateGLMatrixAffineF (GLMatrixAffineF &dst) const

Static Public Member Functions
static GlsBool	CStyleMatrixIsIdentity (const CStyleMatrix &m)
static GlsBool	GLMatrixAffineFIsIdentity (const GLMatrixAffineF &m)
static void	CopyGLMatrixAffineF (GLMatrixAffineF &dst, const GLMatrixAffineF &src)
static void	VectorMultGLMatrixAffineF (const GLMatrixAffineF &m, const GlsHomogeneousVector3D &v, GlsHomogeneousVector3D &dst)
static void	MatrixMultGLMatrixAffineF (const GLMatrixAffineF &lhs, const GLMatrixAffineF &rhs, GLMatrixAffineF &result)

Static Public Attributes
static const GlsUInt32	DIMENSION = 4u
static const GLMatrixAffineF	IDENTITY_MATRIX_GL

Protected Member Functions
void	Initialize (void)
void	MakeIdentity (void)
void	Multiply (const GlsMatrixAffineD &lhs, const GlsMatrixAffineD &rhs, GlsMatrixAffineD &result) const

Protected Attributes
GlsFloat64	_data [DIMENSION *DIMENSION]
GlsFloat64 *	_matrix [DIMENSION]

Static Protected Attributes
static const GlsMatrixAffineD::CStyleMatrix	IDENTITY_MATRIX_C_STYLE
static const GlsFloat64	IDENTITY_MATRIX_DATA_REP [DIMENSION *DIMENSION]

Detailed Description

4x4 affine transformation matrix. It provides the ability to perform rotations, and translations. Results are cumulative, i.e. every rotate and translate call transforms the terms that already exist in the matrix.

Invariant

_matrix column array points to _data array, each element of the data array is a valid floating point value

Member Typedef Documentation

typedef GlsFloat64 GlsMatrixAffineD::CStyleMatrix[DIMENSION][DIMENSION]

C style matrix representation

typedef GLfloat GlsMatrixAffineD::GLMatrixAffineF[DIMENSION *DIMENSION]

affine matrix of floats in format suitable for GL

Member Enumeration Documentation

enum GlsMatrixAffineD::RotationAxis

enumeration describing axes of rotation

Enumerator
ROTATION_AXIS_X	X axis
ROTATION_AXIS_Y	Y axis
ROTATION_AXIS_Z	Z axis

Constructor & Destructor Documentation

GlsMatrixAffineD::GlsMatrixAffineD

(

void

)

Default constructor. The new matrix will be the identity matrix.

Precondition

none

Postcondition

object created, matrix is identity matrix

GlsMatrixAffineD::GlsMatrixAffineD

(

const GlsMatrixAffineD &

m

)

Copy Constructor.

Parameters

m	matrix to copy.

Precondition

none

Postcondition

matrix is equal to m

GlsMatrixAffineD::GlsMatrixAffineD

(

const CStyleMatrix &

m

)

Constructor - initialize from a CStyleMatrix

Parameters

m	c style matrix with intial matrix values

Precondition

GlsMatrixAffineDCStyleMatrixIsValid( m )

Postcondition

instance created, matrix is equal to m

GlsMatrixAffineD::~GlsMatrixAffineD

(

)

Destructor - destroy instance

Precondition

none

Postcondition

instance destroyed

Member Function Documentation

static void GlsMatrixAffineD::CopyGLMatrixAffineF ( GLMatrixAffineF &  dst, const GLMatrixAffineF &  src  )

static

Copy a GLMatrixAffineF

Parameters

dst	[out] destination GLMatrixAffineF
src	source GLMatrixAffineF

Precondition

GLMatrixAffineFIsValid( src )

Postcondition

dst is a copy of src

static GlsBool GlsMatrixAffineD::CStyleMatrixIsIdentity ( const CStyleMatrix &  m )

static

Determine if the given c style matrix is the identity matrix

Parameters

m	c style matrix in question

Returns

GLS_TRUE if identity else GLS_FALSE

Precondition

GlsMatrixAffineDCStyleMatrixIsValid( m )

Postcondition

none

GlsFloat64 GlsMatrixAffineD::GetElement	(	const GlsUInt32	row,
		const GlsUInt32	col
	)		const

Get the element in the matrix at the given row and column

Parameters

row	zero based row of element ( < DIMENSION )
col	zero based column of element ( < DIMENSION )

Returns

element at given row and column

Precondition

row < DIMENSION, col < DIMENSION

Postcondition

none

static GlsBool GlsMatrixAffineD::GLMatrixAffineFIsIdentity ( const GLMatrixAffineF &  m )

static

Determine if the given GL matrix is identity

Parameters

m	matrix in question

Returns

GLS_TRUE if , is identity else GLS_FALSE

Precondition

GLMatrixAffineFIsValid( m )

Postcondition

none

void GlsMatrixAffineD::Initialize ( void  )

protected

This should be called from all constructors, as it initializes the matrix column index so that matrix elements can be addressed in two dimensions, but a multiplication is not incurred when doing so.

Precondition

none

Postcondition

_matrix elements are initialized

void GlsMatrixAffineD::LeftMultiply

(

const GlsMatrixAffineD &

m

)

Multiply this matrix by m where this matrix is on the left side and and m is on the right side of the multiplication, ( *this = (*this) * m )

Parameters

m	matrix to multiply by

Precondition

none

Postcondition

this matrix is multiplied by m ( *this * m )

void GlsMatrixAffineD::MakeIdentity ( void  )

protected

Set this matrix to the identity matrix. The identity matrix is I = [Aij], where Aii = 1 and Aij = 0 for i != j. Thus, for the identity matrix, the terms off the main diagonal are all zero, and the terms on the main diagonal are all one.

Precondition

none

Postcondition

matrix is identity matrix

static void GlsMatrixAffineD::MatrixMultGLMatrixAffineF ( const GLMatrixAffineF &  lhs, const GLMatrixAffineF &  rhs, GLMatrixAffineF &  result  )

static

Multiply two GL matrices ( lhs, rhs ) and store in result result = ( lhs * rhs )

Parameters

lhs	left hand side of multiplication
rhs	right hand side of multiplication
result	[out] gets resultant matrix form multiplication

Precondition

GLMatrixAffineFIsValid( lhs ), GLMatrixAffineFIsValid( rhs )

Postcondition

result = ( lhs * rhs )

void GlsMatrixAffineD::Multiply ( const GlsMatrixAffineD &  lhs, const GlsMatrixAffineD &  rhs, GlsMatrixAffineD &  result  ) const

protected

Multiply the two matrices ( lhs, rhs ) and store in result ( result = ( lhs * rhs )

Parameters

lhs	left hand side of multiplication
rhs	right hand side of multiplication
result	[out] gets resultant matrix for multiplication

Precondition

none

Postcondition

result = ( lhs * rhs )

void GlsMatrixAffineD::PopulateGLMatrixAffineF

(

GLMatrixAffineF &

dst

)

const

populate the given GLMatrixAffineF with the values of the matrix

Parameters

dst	[out] gets values of the matrix

Precondition

none

Postcondition

dst contains values of the matrix

void GlsMatrixAffineD::RightMultiply

(

const GlsMatrixAffineD &

m

)

Multiply this matrix by m where this matrix is on the right side and and m is on the left side of the multiplication, ( *this = m * (*this) )

Parameters

m	matrix to multiply by

Precondition

none

Postcondition

this matrix is multiplied by m ( m * *this )

void GlsMatrixAffineD::Rotate	(	const GlsFloat64	angle,
		const RotationAxis	rotationAxis
	)

Perform a rotation transformation around a major axis around the origin, and combine this transformation with the existing matrix data.

Parameters

angle	rotation angle in degrees
rotationAxis	major axis of rotation

Precondition

GlsFloatIsValid( angle ), GlsMatrixAffineDRotationAxisIsValid( rotationAxis )

Postcondition

matrix is rotation transformed

void GlsMatrixAffineD::SetElement	(	const GlsUInt32	row,
		const GlsUInt32	col,
		const GlsFloat64	val
	)

Set the element in the matrix at the given row and column

Parameters

row	zero based row of element ( < DIMENSION )
col	zero based column of element ( < DIMENSION )
val	new value for element

Precondition

row < DIMENSION, col < DIMENSION, GlsFloatIsValid( val )

Postcondition

element at row and column is set to new value

void GlsMatrixAffineD::SetMatrix

(

const GlsMatrixAffineD &

m

)

copy given matrix

Parameters

m	matrix in question

Precondition

none

Postcondition

matrix elements are equal to matrix elements of m

void GlsMatrixAffineD::Translate

(

const GlsVector3D &

v

)

Perform a translation using the given 3D vector and combine with this matrix

Parameters

v	3D vector in question

Precondition

v.IsValid()

Postcondition

matrix is translated by v

static void GlsMatrixAffineD::VectorMultGLMatrixAffineF ( const GLMatrixAffineF &  m, const GlsHomogeneousVector3D &  v, GlsHomogeneousVector3D &  dst  )

static

Multiply the given 3D homogeneous vector by the given GL matrix

Parameters

m	GL matrix in question
v	3D homogeneous vector in question
dst	[out] receives result ( m * v )

Precondition

GLMatrixAffineFIsValid( m ), v.IsValid()

Postcondition

dst = m * v

Member Data Documentation

GlsFloat64 GlsMatrixAffineD::_data[DIMENSION *DIMENSION]

protected

This is the actual matrix data stored in column-major ordering in a one-dimensional array of the appropriate size to store all matrix terms. The data is stored in this manner so that it can be passed to OpenGL matrix operations, which expect matrices to be ordered this way.

GlsFloat64* GlsMatrixAffineD::_matrix[DIMENSION]

protected

A column index array. Each element in this array "points" to a column of the matrix within the above data. By using this index, we can address matrix terms using two dimensions, column and row, without incurring a multiplication. Eg. matrix[0] points to a column within data, which is the address of the first term in the column. We can further address into the column and access a particular row by adding another dimension, eg. matrix[0][1]. The indices must be set up at construction time.

const GlsUInt32 GlsMatrixAffineD::DIMENSION = 4u

static

matrix is DIMENSION x DIMENSION

const GlsMatrixAffineD::CStyleMatrix GlsMatrixAffineD::IDENTITY_MATRIX_C_STYLE

staticprotected

identity c style matrix

const GlsFloat64 GlsMatrixAffineD::IDENTITY_MATRIX_DATA_REP[DIMENSION *DIMENSION]

staticprotected

identity matrix in data representation format

const GLMatrixAffineF GlsMatrixAffineD::IDENTITY_MATRIX_GL

static

identity GLMatrixAffineF matrix ( column major )