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/************************************************************************
*
* Copyright (C) 2009-2024 IRCAD France
* Copyright (C) 2012-2021 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#pragma once
#include <sight/geometry/data/config.hpp>
#include <data/matrix4.hpp>
#include <data/point.hpp>
#include <glm/mat4x4.hpp>
namespace sight::geometry::data
{
/**
* @brief Invert a matrix.
* @param[in] _input Input matrix
* @param[out] _output Inverted matrix.
*/
SIGHT_GEOMETRY_DATA_API bool invert(
const sight::data::matrix4& _input,
sight::data::matrix4& _output
);
/**
* @brief Multiply two matrices.
* @param[in] _trf_a First matrix.
* @param[in] _trf_b Second matrix.
* @param[out] _output Output matrix.
*/
SIGHT_GEOMETRY_DATA_API void multiply(
const sight::data::matrix4& _trf_a,
const sight::data::matrix4& _trf_b,
sight::data::matrix4& _output
);
/**
* @brief Set the matrix to identity.
* @param[in,out] _trf Matrix we want to set to identity.
*/
SIGHT_GEOMETRY_DATA_API void identity(sight::data::matrix4& _trf);
/**
* @brief Multiply a point and a matrix.
* @param[in] _trf Matrix.
* @param[in] _input Input point.
* @param[out] _output Output point.
*/
SIGHT_GEOMETRY_DATA_API void multiply(
const sight::data::matrix4& _trf,
const sight::data::point& _input,
sight::data::point& _output
);
/**
* @brief Return whether a data::matrix4 is an identity matrix.
* @param[in] _trf Input data::matrix4.
* @param[in] _epsilon Precision of the test (default 1e-12)
* @return boolean value: true if the matrix is identity, false otherwise.
*/
SIGHT_GEOMETRY_DATA_API bool is_identity(
const sight::data::matrix4& _trf,
double _epsilon = 1e-12
);
/**
* @brief Return whether a data::matrix4 is orthogonal
* @param[in] _trf Input data::matrix4
* @param[in] _epsilon Precision of the test (default 1e-6)
* @return boolean value: true if the matrix is orthogonal, false otherwise.
*/
SIGHT_GEOMETRY_DATA_API bool is_orthogonal(const sight::data::matrix4& _trf, double _epsilon = 1e-6);
/**
* @brief Return whether a data::matrix4 is homogeneous
* @param[in] _trf Input data::matrix4
* @param[in] _epsilon Precision of the test (default 1e-6)
* @return boolean value: true if the matrix is homogeneous, false otherwise.
*/
SIGHT_GEOMETRY_DATA_API bool is_homogeneous(const sight::data::matrix4& _trf, double _epsilon = 1e-6);
/**
* @brief Convert a data::matrix4 into a GLM matrix.
* @param[in] _trf Input data::matrix4.
* @return GLM matrix.
*/
inline glm::dmat4x4 to_glm_mat(const sight::data::matrix4& _trf)
{
// Matrix4 is stored row-major
// glm matrices are stored column-major
glm::dmat4x4 mat(_trf[0], _trf[4], _trf[8], _trf[12],
_trf[1], _trf[5], _trf[9], _trf[13],
_trf[2], _trf[6], _trf[10], _trf[14],
_trf[3], _trf[7], _trf[11], _trf[15]);
return mat;
}
/**
* @brief Convert a GLM matrix into a data::matrix4.
* @param[out] _trf Output data::matrix4.
* @param[in] _input Input GLM matrix.
*/
inline void from_glm_mat(sight::data::matrix4& _trf, const glm::dmat4x4& _input)
{
// Matrix4 is stored row-major
// glm matrices are stored column-major
for(std::size_t i = 0 ; i < 4 ; ++i)
{
const std::size_t row_dst = i * 4;
const auto row_src = static_cast<glm::length_t>(i);
for(std::size_t j = 0 ; j < 4 ; ++j)
{
const auto col_src = static_cast<glm::length_t>(j);
_trf[row_dst + j] = _input[col_src][row_src];
}
}
}
} // namespace sight::geometry::data
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