📄 imathmatrixalgo.h
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///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
// Digital Ltd. LLC
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following disclaimer
// in the documentation and/or other materials provided with the
// distribution.
// * Neither the name of Industrial Light & Magic nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
///////////////////////////////////////////////////////////////////////////
#ifndef INCLUDED_IMATHMATRIXALGO_H
#define INCLUDED_IMATHMATRIXALGO_H
//-------------------------------------------------------------------------
//
// This file contains algorithms applied to or in conjunction with
// transformation matrices (Imath::Matrix33 and Imath::Matrix44).
// The assumption made is that these functions are called much less
// often than the basic point functions or these functions require
// more support classes.
//
// This file also defines a few predefined constant matrices.
//
//-------------------------------------------------------------------------
#include "ImathMatrix.h"
#include "ImathQuat.h"
#include "ImathEuler.h"
#include "ImathExc.h"
#include "ImathVec.h"
#include <math.h>
#ifdef OPENEXR_DLL
#ifdef IMATH_EXPORTS
#define IMATH_EXPORT_CONST extern __declspec(dllexport)
#else
#define IMATH_EXPORT_CONST extern __declspec(dllimport)
#endif
#else
#define IMATH_EXPORT_CONST extern const
#endif
namespace Imath {
//------------------
// Identity matrices
//------------------
IMATH_EXPORT_CONST M33f identity33f;
IMATH_EXPORT_CONST M44f identity44f;
IMATH_EXPORT_CONST M33d identity33d;
IMATH_EXPORT_CONST M44d identity44d;
//----------------------------------------------------------------------
// Extract scale, shear, rotation, and translation values from a matrix:
//
// Notes:
//
// This implementation follows the technique described in the paper by
// Spencer W. Thomas in the Graphics Gems II article: "Decomposing a
// Matrix into Simple Transformations", p. 320.
//
// - Some of the functions below have an optional exc parameter
// that determines the functions' behavior when the matrix'
// scaling is very close to zero:
//
// If exc is true, the functions throw an Imath::ZeroScale exception.
//
// If exc is false:
//
// extractScaling (m, s) returns false, s is invalid
// sansScaling (m) returns m
// removeScaling (m) returns false, m is unchanged
// sansScalingAndShear (m) returns m
// removeScalingAndShear (m) returns false, m is unchanged
// extractAndRemoveScalingAndShear (m, s, h)
// returns false, m is unchanged,
// (sh) are invalid
// checkForZeroScaleInRow () returns false
// extractSHRT (m, s, h, r, t) returns false, (shrt) are invalid
//
// - Functions extractEuler(), extractEulerXYZ() and extractEulerZYX()
// assume that the matrix does not include shear or non-uniform scaling,
// but they do not examine the matrix to verify this assumption.
// Matrices with shear or non-uniform scaling are likely to produce
// meaningless results. Therefore, you should use the
// removeScalingAndShear() routine, if necessary, prior to calling
// extractEuler...() .
//
// - All functions assume that the matrix does not include perspective
// transformation(s), but they do not examine the matrix to verify
// this assumption. Matrices with perspective transformations are
// likely to produce meaningless results.
//
//----------------------------------------------------------------------
//
// Declarations for 4x4 matrix.
//
template <class T> bool extractScaling
(const Matrix44<T> &mat,
Vec3<T> &scl,
bool exc = true);
template <class T> Matrix44<T> sansScaling (const Matrix44<T> &mat,
bool exc = true);
template <class T> bool removeScaling
(Matrix44<T> &mat,
bool exc = true);
template <class T> bool extractScalingAndShear
(const Matrix44<T> &mat,
Vec3<T> &scl,
Vec3<T> &shr,
bool exc = true);
template <class T> Matrix44<T> sansScalingAndShear
(const Matrix44<T> &mat,
bool exc = true);
template <class T> bool removeScalingAndShear
(Matrix44<T> &mat,
bool exc = true);
template <class T> bool extractAndRemoveScalingAndShear
(Matrix44<T> &mat,
Vec3<T> &scl,
Vec3<T> &shr,
bool exc = true);
template <class T> void extractEulerXYZ
(const Matrix44<T> &mat,
Vec3<T> &rot);
template <class T> void extractEulerZYX
(const Matrix44<T> &mat,
Vec3<T> &rot);
template <class T> Quat<T> extractQuat (const Matrix44<T> &mat);
template <class T> bool extractSHRT
(const Matrix44<T> &mat,
Vec3<T> &s,
Vec3<T> &h,
Vec3<T> &r,
Vec3<T> &t,
bool exc /*= true*/,
typename Euler<T>::Order rOrder);
template <class T> bool extractSHRT
(const Matrix44<T> &mat,
Vec3<T> &s,
Vec3<T> &h,
Vec3<T> &r,
Vec3<T> &t,
bool exc = true);
template <class T> bool extractSHRT
(const Matrix44<T> &mat,
Vec3<T> &s,
Vec3<T> &h,
Euler<T> &r,
Vec3<T> &t,
bool exc = true);
//
// Internal utility function.
//
template <class T> bool checkForZeroScaleInRow
(const T &scl,
const Vec3<T> &row,
bool exc = true);
//
// Returns a matrix that rotates "fromDirection" vector to "toDirection"
// vector.
//
template <class T> Matrix44<T> rotationMatrix (const Vec3<T> &fromDirection,
const Vec3<T> &toDirection);
//
// Returns a matrix that rotates the "fromDir" vector
// so that it points towards "toDir". You may also
// specify that you want the up vector to be pointing
// in a certain direction "upDir".
//
template <class T> Matrix44<T> rotationMatrixWithUpDir
(const Vec3<T> &fromDir,
const Vec3<T> &toDir,
const Vec3<T> &upDir);
//
// Returns a matrix that rotates the z-axis so that it
// points towards "targetDir". You must also specify
// that you want the up vector to be pointing in a
// certain direction "upDir".
//
// Notes: The following degenerate cases are handled:
// (a) when the directions given by "toDir" and "upDir"
// are parallel or opposite;
// (the direction vectors must have a non-zero cross product)
// (b) when any of the given direction vectors have zero length
//
template <class T> Matrix44<T> alignZAxisWithTargetDir
(Vec3<T> targetDir,
Vec3<T> upDir);
//----------------------------------------------------------------------
//
// Declarations for 3x3 matrix.
//
template <class T> bool extractScaling
(const Matrix33<T> &mat,
Vec2<T> &scl,
bool exc = true);
template <class T> Matrix33<T> sansScaling (const Matrix33<T> &mat,
bool exc = true);
template <class T> bool removeScaling
(Matrix33<T> &mat,
bool exc = true);
template <class T> bool extractScalingAndShear
(const Matrix33<T> &mat,
Vec2<T> &scl,
T &h,
bool exc = true);
template <class T> Matrix33<T> sansScalingAndShear
(const Matrix33<T> &mat,
bool exc = true);
template <class T> bool removeScalingAndShear
(Matrix33<T> &mat,
bool exc = true);
template <class T> bool extractAndRemoveScalingAndShear
(Matrix33<T> &mat,
Vec2<T> &scl,
T &shr,
bool exc = true);
template <class T> void extractEuler
(const Matrix33<T> &mat,
T &rot);
template <class T> bool extractSHRT (const Matrix33<T> &mat,
Vec2<T> &s,
T &h,
T &r,
Vec2<T> &t,
bool exc = true);
template <class T> bool checkForZeroScaleInRow
(const T &scl,
const Vec2<T> &row,
bool exc = true);
//-----------------------------------------------------------------------------
// Implementation for 4x4 Matrix
//------------------------------
template <class T>
bool
extractScaling (const Matrix44<T> &mat, Vec3<T> &scl, bool exc)
{
Vec3<T> shr;
Matrix44<T> M (mat);
if (! extractAndRemoveScalingAndShear (M, scl, shr, exc))
return false;
return true;
}
template <class T>
Matrix44<T>
sansScaling (const Matrix44<T> &mat, bool exc)
{
Vec3<T> scl;
Vec3<T> shr;
Vec3<T> rot;
Vec3<T> tran;
if (! extractSHRT (mat, scl, shr, rot, tran, exc))
return mat;
Matrix44<T> M;
M.translate (tran);
M.rotate (rot);
M.shear (shr);
return M;
}
template <class T>
bool
removeScaling (Matrix44<T> &mat, bool exc)
{
Vec3<T> scl;
Vec3<T> shr;
Vec3<T> rot;
Vec3<T> tran;
if (! extractSHRT (mat, scl, shr, rot, tran, exc))
return false;
mat.makeIdentity ();
mat.translate (tran);
mat.rotate (rot);
mat.shear (shr);
return true;
}
template <class T>
bool
extractScalingAndShear (const Matrix44<T> &mat,
Vec3<T> &scl, Vec3<T> &shr, bool exc)
{
Matrix44<T> M (mat);
if (! extractAndRemoveScalingAndShear (M, scl, shr, exc))
return false;
return true;
}
template <class T>
Matrix44<T>
sansScalingAndShear (const Matrix44<T> &mat, bool exc)
{
Vec3<T> scl;
Vec3<T> shr;
Matrix44<T> M (mat);
if (! extractAndRemoveScalingAndShear (M, scl, shr, exc))
return mat;
return M;
}
template <class T>
bool
removeScalingAndShear (Matrix44<T> &mat, bool exc)
{
Vec3<T> scl;
Vec3<T> shr;
if (! extractAndRemoveScalingAndShear (mat, scl, shr, exc))
return false;
return true;
}
template <class T>
bool
extractAndRemoveScalingAndShear (Matrix44<T> &mat,
Vec3<T> &scl, Vec3<T> &shr, bool exc)
{
//
// This implementation follows the technique described in the paper by
// Spencer W. Thomas in the Graphics Gems II article: "Decomposing a
// Matrix into Simple Transformations", p. 320.
//
Vec3<T> row[3];
row[0] = Vec3<T> (mat[0][0], mat[0][1], mat[0][2]);
row[1] = Vec3<T> (mat[1][0], mat[1][1], mat[1][2]);
row[2] = Vec3<T> (mat[2][0], mat[2][1], mat[2][2]);
T maxVal = 0;
for (int i=0; i < 3; i++)
for (int j=0; j < 3; j++)
if (Imath::abs (row[i][j]) > maxVal)
maxVal = Imath::abs (row[i][j]);
//
// We normalize the 3x3 matrix here.
// It was noticed that this can improve numerical stability significantly,
// especially when many of the upper 3x3 matrix's coefficients are very
// close to zero; we correct for this step at the end by multiplying the
// scaling factors by maxVal at the end (shear and rotation are not
// affected by the normalization).
if (maxVal != 0)
{
for (int i=0; i < 3; i++)
if (! checkForZeroScaleInRow (maxVal, row[i], exc))
return false;
else
row[i] /= maxVal;
}
// Compute X scale factor.
scl.x = row[0].length ();
if (! checkForZeroScaleInRow (scl.x, row[0], exc))
return false;
// Normalize first row.
row[0] /= scl.x;
// An XY shear factor will shear the X coord. as the Y coord. changes.
// There are 6 combinations (XY, XZ, YZ, YX, ZX, ZY), although we only
// extract the first 3 because we can effect the last 3 by shearing in
// XY, XZ, YZ combined rotations and scales.
//
// shear matrix < 1, YX, ZX, 0,
// XY, 1, ZY, 0,
// XZ, YZ, 1, 0,
// 0, 0, 0, 1 >
// Compute XY shear factor and make 2nd row orthogonal to 1st.
shr[0] = row[0].dot (row[1]);
row[1] -= shr[0] * row[0];
// Now, compute Y scale.
scl.y = row[1].length ();
if (! checkForZeroScaleInRow (scl.y, row[1], exc))
return false;
// Normalize 2nd row and correct the XY shear factor for Y scaling.
row[1] /= scl.y;
shr[0] /= scl.y;
// Compute XZ and YZ shears, orthogonalize 3rd row.
shr[1] = row[0].dot (row[2]);
row[2] -= shr[1] * row[0];
shr[2] = row[1].dot (row[2]);
row[2] -= shr[2] * row[1];
// Next, get Z scale.
scl.z = row[2].length ();
if (! checkForZeroScaleInRow (scl.z, row[2], exc))
return false;
// Normalize 3rd row and correct the XZ and YZ shear factors for Z scaling.
row[2] /= scl.z;
shr[1] /= scl.z;
shr[2] /= scl.z;
// At this point, the upper 3x3 matrix in mat is orthonormal.
// Check for a coordinate system flip. If the determinant
// is less than zero, then negate the matrix and the scaling factors.
if (row[0].dot (row[1].cross (row[2])) < 0)
for (int i=0; i < 3; i++)
{
scl[i] *= -1;
row[i] *= -1;
}
// Copy over the orthonormal rows into the returned matrix.
// The upper 3x3 matrix in mat is now a rotation matrix.
for (int i=0; i < 3; i++)
{
mat[i][0] = row[i][0];
mat[i][1] = row[i][1];
mat[i][2] = row[i][2];
}
// Correct the scaling factors for the normalization step that we
// performed above; shear and rotation are not affected by the
// normalization.
scl *= maxVal;
return true;
}
template <class T>
void
extractEulerXYZ (const Matrix44<T> &mat, Vec3<T> &rot)
{
//
// Normalize the local x, y and z axes to remove scaling.
//
Vec3<T> i (mat[0][0], mat[0][1], mat[0][2]);
Vec3<T> j (mat[1][0], mat[1][1], mat[1][2]);
Vec3<T> k (mat[2][0], mat[2][1], mat[2][2]);
i.normalize();
j.normalize();
k.normalize();
Matrix44<T> M (i[0], i[1], i[2], 0,
j[0], j[1], j[2], 0,
k[0], k[1], k[2], 0,
0, 0, 0, 1);
//
// Extract the first angle, rot.x.
//
rot.x = Math<T>::atan2 (M[1][2], M[2][2]);
//
// Remove the rot.x rotation from M, so that the remaining
// rotation, N, is only around two axes, and gimbal lock
// cannot occur.
//
Matrix44<T> N;
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