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/*****************************************************************************
** FILE IDENTIFICATION
**
** Name: transformmatrix.cpp
** Function: Transform Matrix routine for graphic library
** Programmer: Kevin Rosenberg
** Date Started: 1-22-85
**
** This is part of the CTSim program
** Copyright (c) 1983-2009 Kevin Rosenberg
**
** This program is free software; you can redistribute it and/or modify
** it under the terms of the GNU General Public License (version 2) as
** published by the Free Software Foundation.
**
** 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.
**
** You should have received a copy of the GNU General Public License
** along with this program; if not, write to the Free Software
** Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
******************************************************************************/
#include <iostream>
#include "ctsupport.h"
#include "transformmatrix.h"
TransformationMatrix2D::TransformationMatrix2D (double m[3][3])
{
mtx[0][0] = m[0][0]; mtx[0][1] = m[0][1]; mtx[0][2] = m[0][2];
mtx[1][0] = m[1][0]; mtx[1][1] = m[1][1]; mtx[1][2] = m[1][2];
mtx[2][0] = m[2][0]; mtx[2][1] = m[2][1]; mtx[2][2] = m[2][2];
}
void
TransformationMatrix2D::setTranslate (double x, double y)
{
setIdentity();
mtx[2][0] = x;
mtx[2][1] = y;
}
void
TransformationMatrix2D::setScale (double sx, double sy)
{
setIdentity();
mtx[0][0] = sx;
mtx[1][1] = sy;
}
void
TransformationMatrix2D::setShear (double shrx, double shry)
{
setIdentity();
mtx[1][0] = shrx;
mtx[0][1] = shry;
}
void
TransformationMatrix2D::setRotate (double theta)
{
double s = sin (theta);
double c = cos (theta);
setIdentity();
mtx[0][0] = c; mtx[0][1] = s;
mtx[1][0] = -s; mtx[1][1] = c;
}
void
TransformationMatrix2D::setIdentity ()
{
mtx[0][0] = 1.; mtx[0][1] = 0.; mtx[0][2] = 0.;
mtx[1][0] = 0.; mtx[1][1] = 1.; mtx[1][2] = 0.;
mtx[2][0] = 0.; mtx[2][1] = 0.; mtx[2][2] = 1.;
}
const TransformationMatrix2D
TransformationMatrix2D::invert () const
{
double b[3][3];
double determ = determinant ();
if (fabs(determ) < 1E-6) {
sys_error (ERR_WARNING, "Determinant = %g [TransformationMatrix2D::invert]", determ);
print (std::cout);
std::cout << std::endl;
}
b[0][0] = (mtx[1][1] * mtx[2][2] - mtx[2][1] * mtx[1][2]) / determ;
b[1][0] = -(mtx[1][0] * mtx[2][2] - mtx[2][0] * mtx[1][2]) / determ;
b[2][0] = (mtx[1][0] * mtx[2][1] - mtx[2][0] * mtx[1][1]) / determ;
b[0][1] = -(mtx[0][1] * mtx[2][2] - mtx[2][1] * mtx[0][2]) / determ;
b[1][1] = (mtx[0][0] * mtx[2][2] - mtx[2][0] * mtx[0][2]) / determ;
b[2][1] = -(mtx[0][0] * mtx[2][1] - mtx[2][0] * mtx[0][1]) / determ;
b[0][2] = (mtx[0][1] * mtx[1][2] - mtx[1][1] * mtx[0][2]) / determ;
b[1][2] = -(mtx[0][0] * mtx[1][2] - mtx[1][0] * mtx[0][2]) / determ;
b[2][2] = (mtx[0][0] * mtx[1][1] - mtx[1][0] * mtx[0][1]) / determ;
return TransformationMatrix2D (b);
}
double
TransformationMatrix2D::determinant () const
{
return
(mtx[0][0] * mtx[1][1] * mtx[2][2] - mtx[0][0] * mtx[2][1] * mtx[1][2] -
mtx[0][1] * mtx[1][0] * mtx[2][2] + mtx[0][1] * mtx[2][0] * mtx[1][2] +
mtx[0][2] * mtx[1][0] * mtx[2][1] - mtx[0][2] * mtx[2][0] * mtx[1][1]);
}
void
TransformationMatrix2D::transformPoint (double* pX, double *pY) const
{
double x = *pX * mtx[0][0] + *pY * mtx[1][0] + mtx[2][0];
double y = *pX * mtx[0][1] + *pY * mtx[1][1] + mtx[2][1];
*pX = x;
*pY = y;
}
void
TransformationMatrix2D::print (std::ostream& ostr) const
{
std::cout << mtx[0][0] << " " << mtx[0][1] << " " << mtx[0][2] << std::endl;
std::cout << mtx[1][0] << " " << mtx[1][1] << " " << mtx[1][2] << std::endl;
std::cout << mtx[2][0] << " " << mtx[2][1] << " " << mtx[2][2] << std::endl;
}
// Friend of TransformMatrix2D
const TransformationMatrix2D operator* (const TransformationMatrix2D& a, const TransformationMatrix2D& b)
{
double c[3][3];
for (int row = 0; row < 3; row++)
for (int col = 0; col < 3; col++) {
c[row][col] = 0.;
for (int calc = 0; calc < 3; calc++)
c[row][col] += a.mtx[row][calc] * b.mtx[calc][col];
}
return TransformationMatrix2D (c);
}
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