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// This file is part of ff3d - http://www.freefem.org/ff3d
// Copyright (C) 2001, 2002, 2003 Stphane Del Pino
// 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; either version 2, or (at your option)
// any later version.
// 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.
// $Id: TransformMatrix.cpp,v 1.3 2006/10/01 23:25:58 delpinux Exp $
#include <TransformMatrix.hpp>
#include <cmath>
#include <sstream>
TinyVector<3,real_t> TransformMatrix::
operator()(const TinyVector<3,real_t>& v) const
{
TinyVector<3,real_t> temp = __matrix*v;
temp += __translate;
return temp;
}
TinyVector<3,real_t> TransformMatrix::
inverse(const TinyVector<3>& v) const
{
// As 'matrix' is composed of transformMatrixs, and
// as transformMatrixs are othogonal matrices
// the inverse of 'matrix' is its transposed
TinyVector<3,real_t> Temporary = v - __translate;
return __invMatrix*Temporary;
}
TransformMatrix::
TransformMatrix(const real_t m[12])
: Transform(matrix)
{
for (size_t i=0;i<3;++i) {
__translate[i] = m[9+i];
for (size_t j=0; j<3; ++j) {
__matrix(i,j) = m[3*i+j];
}
}
__invMatrix = __matrix.invert();
}
TransformMatrix::
TransformMatrix(const TransformMatrix& r)
: Transform(r)
{
__translate = r.__translate;
__matrix = r.__matrix;
__invMatrix = r.__invMatrix;
}
std::string TransformMatrix::
povWrite() const
{
std::stringstream povs;
povs << "transformMatrix <";
for (size_t i=0; i<3; ++i) {
for(size_t j=0; j<3; ++j) {
povs << __matrix(i,j) << ',';
}
}
for (size_t i=0; i<2; ++i)
povs << __translate << ',';
povs << __translate[2];
povs << ">";
povs << std::ends;
return povs.str();
}
ReferenceCounting<Transform> TransformMatrix::
getCopy() const
{
return new TransformMatrix(*this);
}
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