28 #ifndef PXR_BASE_GF_MATRIX4F_H
29 #define PXR_BASE_GF_MATRIX4F_H
35 #include "pxr/base/gf/api.h"
37 #include "pxr/base/gf/matrixData.h"
39 #include "pxr/base/gf/traits.h"
45 #include <boost/functional/hash.hpp>
50 PXR_NAMESPACE_OPEN_SCOPE
91 typedef float ScalarType;
93 static const size_t numRows = 4;
94 static const size_t numColumns = 4;
103 float m10,
float m11,
float m12,
float m13,
104 float m20,
float m21,
float m22,
float m23,
105 float m30,
float m31,
float m32,
float m33) {
106 Set(m00, m01, m02, m03,
137 explicit GfMatrix4f(
const std::vector< std::vector<double> >& v);
146 explicit GfMatrix4f(
const std::vector< std::vector<float> >& v);
155 explicit GfMatrix4f(
const std::vector<double>& r0,
156 const std::vector<double>& r1,
157 const std::vector<double>& r2,
158 const std::vector<double>& r3);
167 explicit GfMatrix4f(
const std::vector<float>& r0,
168 const std::vector<float>& r1,
169 const std::vector<float>& r2,
170 const std::vector<float>& r3);
205 return GfVec4f(_mtx[i][0], _mtx[i][1], _mtx[i][2], _mtx[i][3]);
210 return GfVec4f(_mtx[0][i], _mtx[1][i], _mtx[2][i], _mtx[3][i]);
217 float m10,
float m11,
float m12,
float m13,
218 float m20,
float m21,
float m22,
float m23,
219 float m30,
float m31,
float m32,
float m33) {
220 _mtx[0][0] = m00; _mtx[0][1] = m01; _mtx[0][2] = m02; _mtx[0][3] = m03;
221 _mtx[1][0] = m10; _mtx[1][1] = m11; _mtx[1][2] = m12; _mtx[1][3] = m13;
222 _mtx[2][0] = m20; _mtx[2][1] = m21; _mtx[2][2] = m22; _mtx[2][3] = m23;
223 _mtx[3][0] = m30; _mtx[3][1] = m31; _mtx[3][2] = m32; _mtx[3][3] = m33;
230 _mtx[0][0] = m[0][0];
231 _mtx[0][1] = m[0][1];
232 _mtx[0][2] = m[0][2];
233 _mtx[0][3] = m[0][3];
234 _mtx[1][0] = m[1][0];
235 _mtx[1][1] = m[1][1];
236 _mtx[1][2] = m[1][2];
237 _mtx[1][3] = m[1][3];
238 _mtx[2][0] = m[2][0];
239 _mtx[2][1] = m[2][1];
240 _mtx[2][2] = m[2][2];
241 _mtx[2][3] = m[2][3];
242 _mtx[3][0] = m[3][0];
243 _mtx[3][1] = m[3][1];
244 _mtx[3][2] = m[3][2];
245 _mtx[3][3] = m[3][3];
270 float*
Get(
float m[4][4])
const;
310 boost::hash_combine(h, *p++);
327 return !(*
this == m);
333 return !(*
this == m);
362 return GfVec3f(_mtx[i][0], _mtx[i][1], _mtx[i][2]);
369 return _GetDeterminant3(0, 1, 2, 0, 1, 2);
483 return GfVec4f(vec[0] * m._mtx[0][0] + vec[1] * m._mtx[0][1] + vec[2] * m._mtx[0][2] + vec[3] * m._mtx[0][3],
484 vec[0] * m._mtx[1][0] + vec[1] * m._mtx[1][1] + vec[2] * m._mtx[1][2] + vec[3] * m._mtx[1][3],
485 vec[0] * m._mtx[2][0] + vec[1] * m._mtx[2][1] + vec[2] * m._mtx[2][2] + vec[3] * m._mtx[2][3],
486 vec[0] * m._mtx[3][0] + vec[1] * m._mtx[3][1] + vec[2] * m._mtx[3][2] + vec[3] * m._mtx[3][3]);
491 return GfVec4f(vec[0] * m._mtx[0][0] + vec[1] * m._mtx[1][0] + vec[2] * m._mtx[2][0] + vec[3] * m._mtx[3][0],
492 vec[0] * m._mtx[0][1] + vec[1] * m._mtx[1][1] + vec[2] * m._mtx[2][1] + vec[3] * m._mtx[3][1],
493 vec[0] * m._mtx[0][2] + vec[1] * m._mtx[1][2] + vec[2] * m._mtx[2][2] + vec[3] * m._mtx[3][2],
494 vec[0] * m._mtx[0][3] + vec[1] * m._mtx[1][3] + vec[2] * m._mtx[2][3] + vec[3] * m._mtx[3][3]);
603 float eps = 1e-5)
const;
608 return GfVec3f(_mtx[3][0], _mtx[3][1], _mtx[3][2]);
650 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0] + _mtx[3][0],
651 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1] + _mtx[3][1],
652 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2] + _mtx[3][2],
653 vec[0] * _mtx[0][3] + vec[1] * _mtx[1][3] + vec[2] * _mtx[2][3] + _mtx[3][3]));
662 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0] + _mtx[3][0],
663 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1] + _mtx[3][1],
664 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2] + _mtx[3][2],
665 vec[0] * _mtx[0][3] + vec[1] * _mtx[1][3] + vec[2] * _mtx[2][3] + _mtx[3][3])));
674 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0],
675 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1],
676 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2]);
687 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0],
688 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1],
689 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2]);
698 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0] + _mtx[3][0],
699 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1] + _mtx[3][1],
700 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2] + _mtx[3][2]);
709 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0] + _mtx[3][0],
710 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1] + _mtx[3][1],
711 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2] + _mtx[3][2]);
719 double _GetDeterminant3(
size_t row1,
size_t row2,
size_t row3,
720 size_t col1,
size_t col2,
size_t col3)
const;
723 void _Jacobi3(
GfVec3d *eigenvalues,
GfVec3d eigenvectors[3])
const;
727 void _SetRotateFromQuat(
float r,
const GfVec3f& i);
749 PXR_NAMESPACE_CLOSE_SCOPE
751 #endif // PXR_BASE_GF_MATRIX4F_H
GfVec3f GfProject(const GfVec4f &v)
Projects homogeneous v into Euclidean space and returns the result as a Vec3f.
GF_API GfMatrix4f GetInverse(double *det=NULL, double eps=0) const
Returns the inverse of the matrix, or FLT_MAX * SetIdentity() if the matrix is singular.
GF_API GfMatrix4f & SetTranslateOnly(const GfVec3f &t)
Sets matrix to specify a translation by the vector trans, without clearing the rotation.
Stores a 4x4 matrix of float elements.
GF_API GfMatrix4f GetTranspose() const
Returns the transpose of the matrix.
GF_API friend GfMatrix4f operator-(const GfMatrix4f &m)
Returns the unary negation of matrix m.
GF_API bool operator==(const GfMatrix4d &m) const
Tests for element-wise matrix equality.
bool GfIsClose(double a, double b, double epsilon)
Returns true if a and b are with epsilon of each other.
friend GfMatrix4f operator+(const GfMatrix4f &m1, const GfMatrix4f &m2)
Adds matrix m2 to m1.
Assorted mathematical utility functions.
GF_API GfMatrix4f & SetTranslate(const GfVec3f &trans)
Sets matrix to specify a translation by the vector trans, and clears the rotation.
GF_API double GetDeterminant() const
Returns the determinant of the matrix.
GF_API double GetHandedness() const
Returns the sign of the determinant of the upper 3x3 matrix, i.e.
float * data()
Returns raw access to components of matrix as an array of float values.
GF_API float * Get(float m[4][4]) const
Fills a 4x4 array of float values with the values in the matrix, specified in row-major order...
GfVec3f ExtractTranslation() const
Returns the translation part of the matrix, defined as the first three elements of the last row...
Basic type for a vector of 3 float components.
Basic type for a vector of 4 double components.
GfVec3f Transform(const GfVec3f &vec) const
Transforms the row vector vec by the matrix, returning the result.
double GfAbs(double f)
Return abs(f).
GF_API GfMatrix4f & SetLookAt(const GfVec3f &eyePoint, const GfVec3f ¢erPoint, const GfVec3f &upDirection)
Sets the matrix to specify a viewing matrix from parameters similar to those used by gluLookAt(3G)...
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients...
float * operator[](int i)
Accesses an indexed row i of the matrix as an array of 4 float values so that standard indexing (such...
void SetColumn(int i, const GfVec4f &v)
Sets a column of the matrix from a Vec4.
GF_API GfMatrix3f ExtractRotationMatrix() const
Returns the rotation corresponding to this matrix.
#define GF_MIN_ORTHO_TOLERANCE
This constant is used to determine when a set of basis vectors is close to orthogonal.
GF_API GfQuatf ExtractRotationQuat() const
Return the rotation corresponding to this matrix as a quaternion.
GF_API GfMatrix4f & SetRotate(const GfQuatf &rot)
Sets the matrix to specify a rotation equivalent to rot, and clears the translation.
GF_API bool Factor(GfMatrix4f *r, GfVec3f *s, GfMatrix4f *u, GfVec3f *t, GfMatrix4f *p, float eps=1e-5) const
Factors the matrix into 5 components:
Stores a 3x3 matrix of float elements.
GF_API GfMatrix4f & operator-=(const GfMatrix4f &m)
Subtracts matrix m from this matrix.
GfMatrix4f(const float m[4][4])
Constructor.
GfVec3d Transform(const GfVec3d &vec) const
Transforms the row vector vec by the matrix, returning the result.
friend GfMatrix4f operator*(const GfMatrix4f &m1, double d)
Returns the product of a matrix and a float.
GF_API GfMatrix4f & SetDiagonal(float s)
Sets the matrix to s times the identity matrix.
GfMatrix4f()=default
Default constructor. Leaves the matrix component values undefined.
T * GetData()
Return a pointer to the start of all the data.
Stores a 4x4 matrix of double elements.
A metafunction with a static const bool member 'value' that is true for GfMatrix types, like GfMatrix3d, GfMatrix4f, etc and false for all other types.
friend size_t hash_value(GfMatrix4f const &m)
Hash.
const float * GetArray() const
Returns vector components as a const array of float values.
bool HasOrthogonalRows3() const
Returns true, if the row vectors of the upper 3x3 matrix form an orthogonal basis.
GF_API GfMatrix4f & SetScale(float scaleFactor)
Sets matrix to specify a uniform scaling by scaleFactor.
decltype(std::declval< Left >()*std::declval< Right >()) GfDot(Left left, Right right)
Returns the dot (inner) product of two vectors.
Utility functions for GfVec4f and GfVec4d as homogeneous vectors.
const float * data() const
Returns const raw access to components of matrix as an array of float values.
GF_API GfMatrix4f & operator+=(const GfMatrix4f &m)
Adds matrix m to this matrix.
GF_API GfVec3f DecomposeRotation(const GfVec3f &axis0, const GfVec3f &axis1, const GfVec3f &axis2) const
Decompose the rotation corresponding to this matrix about 3 orthogonal axes.
GfMatrix4f & Set(const float m[4][4])
Sets the matrix from a 4x4 array of float values, specified in row-major order.
GF_API GfMatrix4f GetOrthonormalized(bool issueWarning=true) const
Returns an orthonormalized copy of the matrix.
GfMatrix4f(float m00, float m01, float m02, float m03, float m10, float m11, float m12, float m13, float m20, float m21, float m22, float m23, float m30, float m31, float m32, float m33)
Constructor.
Basic type for a vector of 4 float components.
GF_API std::ostream & operator<<(std::ostream &, const GfBBox3d &)
Output a GfBBox3d using the format [(range) matrix zeroArea].
float * GetArray()
Returns vector components as an array of float values.
GfVec3d TransformDir(const GfVec3d &vec) const
Transforms row vector vec by the matrix, returning the result.
GfMatrix4f(float s)
Constructor.
GF_API GfRotation ExtractRotation() const
Returns the rotation corresponding to this matrix.
GF_API GfMatrix4f RemoveScaleShear() const
Returns the matrix with any scaling or shearing removed, leaving only the rotation and translation...
bool IsLeftHanded() const
Returns true if the vectors in the upper 3x3 matrix form a left-handed coordinate system...
GfMatrix4f & SetIdentity()
Sets the matrix to the identity matrix.
double GetDeterminant3() const
Returns the determinant of the upper 3x3 matrix.
GF_API bool Orthonormalize(bool issueWarning=true)
Makes the matrix orthonormal in place.
friend GfMatrix4f operator/(const GfMatrix4f &m1, const GfMatrix4f &m2)
Divides matrix m1 by m2 (that is, m1 * inv(m2)).
void SetRow(int i, const GfVec4f &v)
Sets a row of the matrix from a Vec4.
GfVec4f GetColumn(int i) const
Gets a column of the matrix as a Vec4.
Basic type for a vector of 3 double components.
Defines useful mathematical limits.
GfMatrix4f & Set(float m00, float m01, float m02, float m03, float m10, float m11, float m12, float m13, float m20, float m21, float m22, float m23, float m30, float m31, float m32, float m33)
Sets the matrix from 16 independent float values, specified in row-major order.
GF_API GfMatrix4f & SetRotateOnly(const GfQuatf &rot)
Sets the matrix to specify a rotation equivalent to rot, without clearing the translation.
GfVec3f TransformAffine(const GfVec3f &vec) const
Transforms the row vector vec by the matrix, returning the result.
GfVec3d TransformAffine(const GfVec3d &vec) const
Transforms the row vector vec by the matrix, returning the result.
GF_API GfMatrix4f & SetTransform(const GfRotation &rotate, const GfVec3f &translate)
Sets matrix to specify a rotation by rotate and a translation by translate.
GfMatrix4f(const GfVec4f &v)
Constructor.
bool operator!=(const GfMatrix4d &m) const
Tests for element-wise matrix inequality.
GF_API GfMatrix4f & operator*=(const GfMatrix4f &m)
Post-multiplies matrix m into this matrix.
Basic type: 3-space rotation specification.
bool IsRightHanded() const
Returns true if the vectors in the upper 3x3 matrix form a right-handed coordinate system...
void SetRow3(int i, const GfVec3f &v)
Sets a row of the matrix from a Vec3.
GfVec3f GetRow3(int i) const
Gets a row of the matrix as a Vec3.
GfVec3f TransformDir(const GfVec3f &vec) const
Transforms row vector vec by the matrix, returning the result.
GfMatrix4f & SetZero()
Sets the matrix to zero.
GfVec4f GetRow(int i) const
Gets a row of the matrix as a Vec4.