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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 1.2 2003/05/04 18:09:01 delpinux Exp $
#include <TransformMatrix.hpp>
#include <cmath>
#include <sstream>
//! Applies the TransformMatrix to the vector \a v.
TinyVector<3>& TransformMatrix::operator()(TinyVector<3>& v) const
{
v = __matrix*v;
v += __translate;
return (v);
}
//! Applies the inverse TransformMatrix to the vector \a v.
TinyVector<3>& TransformMatrix::inverse(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> Temporary = v;
Temporary -= __translate;
v = __invMatrix*Temporary;
return v;
}
/*! Constructs the TransformMatrix for a set of given angles given in \a v by
builting the invert of the TransformMatrix matrix since it is more usefull than the
TransformMatrix matrix.
\remark The angles contained in r are expressed using degrees.
*/
TransformMatrix::TransformMatrix(const real_t m[12])
{
__type = 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();
}
/*! Default constructor: the TransformMatrix is the identity.
\warning this might not be pertinent and may be removed.
*/
TransformMatrix::TransformMatrix()
{
__type = matrix;
__translate = 0;
__matrix(0,0) = 1;
__matrix(1,0) = 0;
__matrix(2,0) = 0;
__matrix(0,1) = 0;
__matrix(1,1) = 1;
__matrix(2,1) = 0;
__matrix(0,2) = 0;
__matrix(1,2) = 0;
__matrix(2,2) = 1;
__invMatrix = __matrix;
}
//! Copy constructor.
TransformMatrix::TransformMatrix(const TransformMatrix& r)
{
__type = matrix;
__translate = r.__translate;
__matrix = r.__matrix;
__invMatrix = r.__invMatrix;
}
//! prints transformMatrix information to a string.
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();
}
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