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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# 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; version 2 or later of the License. #
//# #
//# 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. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#ifndef CC_GL_MATRIX_HEADER
#define CC_GL_MATRIX_HEADER
//Local
#include "ccGLMatrixTpl.h"
//CCLib
#include <SquareMatrix.h>
//! Float version of ccGLMatrixTpl
class QCC_DB_LIB_API ccGLMatrix : public ccGLMatrixTpl<float>
{
public:
//! Default constructor
/** Matrix is set to identity (see ccGLMatrixTpl::toIdentity) by default.
**/
ccGLMatrix() : ccGLMatrixTpl<float>() {}
//! Copy constructor from a ccGLMatrixTpl
/** \param mat matrix
**/
ccGLMatrix(const ccGLMatrixTpl<float>& mat) : ccGLMatrixTpl<float>(mat) {}
//! Constructor from a float GL matrix array
/** \param mat16f a 16 elements array (column major order)
**/
explicit ccGLMatrix(const float* mat16f) : ccGLMatrixTpl<float>(mat16f) {}
//! Constructor from a double GL matrix array
/** \warning Will implicitly cast the elements to float!
\param mat16d a 16 elements array (column major order)
**/
explicit ccGLMatrix(const double* mat16d) : ccGLMatrixTpl<float>(mat16d) {}
//! Constructor from 4 columns (X,Y,Z,Tr)
/** \param X 3 first elements of the 1st column (last one is 0)
\param Y 3 first elements of the 2nd column (last one is 0)
\param Z 3 first elements of the 3rd column (last one is 0)
\param Tr 3 first elements of the last column (last one is 1)
**/
ccGLMatrix(const Vector3Tpl<float>& X, const Vector3Tpl<float>& Y, const Vector3Tpl<float>& Z, const Vector3Tpl<float>& Tr) : ccGLMatrixTpl<float>(X,Y,Z,Tr) {}
};
//! Double version of ccGLMatrixTpl
class QCC_DB_LIB_API ccGLMatrixd : public ccGLMatrixTpl<double>
{
public:
//! Default constructor
/** Matrix is set to identity (see ccGLMatrixTpl::toIdentity) by default.
**/
ccGLMatrixd() : ccGLMatrixTpl<double>() {}
//! Copy constructor from a ccGLMatrixTpl
/** \param mat matrix
**/
ccGLMatrixd(const ccGLMatrixTpl<double>& mat) : ccGLMatrixTpl<double>(mat) {}
//! Constructor from a float GL matrix array
/** \param mat16f a 16 elements array (column major order)
**/
explicit ccGLMatrixd(const float* mat16f) : ccGLMatrixTpl<double>(mat16f) {}
//! Constructor from a double GL matrix array
/** \param mat16d a 16 elements array (column major order)
**/
explicit ccGLMatrixd(const double* mat16d) : ccGLMatrixTpl<double>(mat16d) {}
//! Constructor from 4 columns (X,Y,Z,Tr)
/** \param X 3 first elements of the 1st column (last one is 0)
\param Y 3 first elements of the 2nd column (last one is 0)
\param Z 3 first elements of the 3rd column (last one is 0)
\param Tr 3 first elements of the last column (last one is 1)
**/
ccGLMatrixd(const Vector3Tpl<double>& X, const Vector3Tpl<double>& Y, const Vector3Tpl<double>& Z, const Vector3Tpl<double>& Tr) : ccGLMatrixTpl<double>(X,Y,Z,Tr) {}
};
/*** Helpers ***/
//! Constructor from a 3x3 rotation matrix R and a vector Tr
template <typename Tin, typename Tout> ccGLMatrixTpl<Tout> FromCCLibMatrix(const CCLib::SquareMatrixTpl<Tin>& R, const Vector3Tpl<Tin>& Tr)
{
ccGLMatrixTpl<Tout> outputMat;
//outputMat.toIdentity(); //already done in the constructor
if (R.isValid() && R.size() == 3)
{
//we copy each column
Tout* mat = outputMat.data();
for (unsigned j=0; j<3; ++j)
{
*mat++ = static_cast<Tout>(R.m_values[0][j]);
*mat++ = static_cast<Tout>(R.m_values[1][j]);
*mat++ = static_cast<Tout>(R.m_values[2][j]);
mat++;
}
}
outputMat.setTranslation( Vector3Tpl<Tout>( static_cast<Tout>(Tr.x),
static_cast<Tout>(Tr.y),
static_cast<Tout>(Tr.z) ));
return outputMat;
}
//! Constructor from a 3x3 rotation matrix R, a vector Tr, a scale S
template <typename Tin, typename Tout> ccGLMatrixTpl<Tout> FromCCLibMatrix(const CCLib::SquareMatrixTpl<Tin>& R, const Vector3Tpl<Tin>& Tr, Tin S)
{
ccGLMatrixTpl<Tout> outputMat;
//outputMat.toIdentity(); //already done in the constructor
if (R.isValid() && R.size() == 3)
{
//we copy each column
Tout* mat = outputMat.data();
for (unsigned j=0; j<3; ++j)
{
*mat++ = static_cast<Tout>(R.m_values[0][j] * S);
*mat++ = static_cast<Tout>(R.m_values[1][j] * S);
*mat++ = static_cast<Tout>(R.m_values[2][j] * S);
mat++;
}
}
outputMat.setTranslation( Vector3Tpl<Tout>( static_cast<Tout>(Tr.x),
static_cast<Tout>(Tr.y),
static_cast<Tout>(Tr.z) ));
return outputMat;
}
//! Constructor from a rotation center G, a 3x3 rotation matrix R and a vector Tr
template <typename Tin, typename Tout> ccGLMatrixTpl<Tout> FromCCLibMatrix(const CCLib::SquareMatrixTpl<Tin>& R, const Vector3Tpl<Tin>& Tr, const Vector3Tpl<Tin>& rotCenter)
{
ccGLMatrixTpl<Tout> outputMat = FromCCLibMatrix<Tin,Tout>(R,Tr);
outputMat.shiftRotationCenter(rotCenter);
return outputMat;
}
#endif //CC_GL_MATRIX_HEADER
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