[37] | 1 | /* |
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| 2 | |
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| 3 | Brian Curless |
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| 4 | |
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| 5 | Computer Graphics Laboratory |
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| 6 | Stanford University |
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| 7 | |
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| 8 | --------------------------------------------------------------------- |
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| 9 | |
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| 10 | Copyright (1997) The Board of Trustees of the Leland Stanford Junior |
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| 11 | University. Except for commercial resale, lease, license or other |
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| 12 | commercial transactions, permission is hereby given to use, copy, |
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| 13 | modify this software for academic purposes only. No part of this |
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| 14 | software or any derivatives thereof may be used in the production of |
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| 15 | computer models for resale or for use in a commercial |
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| 16 | product. STANFORD MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND |
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| 17 | CONCERNING THIS SOFTWARE. No support is implied or provided. |
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| 18 | |
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| 19 | */ |
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| 20 | |
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| 21 | |
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| 22 | #include "defines.h" |
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| 23 | #include "Matrix3f.h" |
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| 24 | #include <math.h> |
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| 25 | #include <unistd.h> |
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| 26 | #include <stdio.h> |
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| 27 | |
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| 28 | /* #include "NR.h" */ |
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| 29 | |
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| 30 | void |
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| 31 | Matrix3f::setValue(float a[][3]) |
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| 32 | { |
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| 33 | m[0][0] = a[0][0]; m[0][1] = a[0][1]; m[0][2] = a[0][2]; |
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| 34 | m[1][0] = a[1][0]; m[1][1] = a[1][1]; m[1][2] = a[1][2]; |
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| 35 | m[2][0] = a[2][0]; m[2][1] = a[2][1]; m[2][2] = a[2][2]; |
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| 36 | } |
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| 37 | |
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| 38 | void |
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| 39 | Matrix3f::setValue(const Matrix3f &a) |
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| 40 | { |
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| 41 | m[0][0] = a.m[0][0]; m[0][1] = a.m[0][1]; m[0][2] = a.m[0][2]; |
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| 42 | m[1][0] = a.m[1][0]; m[1][1] = a.m[1][1]; m[1][2] = a.m[1][2]; |
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| 43 | m[2][0] = a.m[2][0]; m[2][1] = a.m[2][1]; m[2][2] = a.m[2][2]; |
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| 44 | } |
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| 45 | |
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| 46 | void |
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| 47 | Matrix3f::setValue(float *a0, float *a1, float *a2) |
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| 48 | { |
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| 49 | m[0][0] = a0[0]; m[0][1] = a0[1]; m[0][2] = a0[2]; |
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| 50 | m[1][0] = a1[0]; m[1][1] = a1[1]; m[1][2] = a1[2]; |
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| 51 | m[2][0] = a2[0]; m[2][1] = a2[1]; m[2][2] = a2[2]; |
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| 52 | } |
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| 53 | |
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| 54 | void |
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| 55 | Matrix3f::setValue(Vec3f a0, Vec3f a1, Vec3f a2) |
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| 56 | { |
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| 57 | m[0][0] = a0[0]; m[0][1] = a0[1]; m[0][2] = a0[2]; |
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| 58 | m[1][0] = a1[0]; m[1][1] = a1[1]; m[1][2] = a1[2]; |
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| 59 | m[2][0] = a2[0]; m[2][1] = a2[1]; m[2][2] = a2[2]; |
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| 60 | } |
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| 61 | |
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| 62 | void |
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| 63 | Matrix3f::setValue(float a00, float a01, float a02, |
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| 64 | float a10, float a11, float a12, |
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| 65 | float a20, float a21, float a22) |
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| 66 | { |
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| 67 | m[0][0] = a00; m[0][1] = a01; m[0][2] = a02; |
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| 68 | m[1][0] = a10; m[1][1] = a11; m[1][2] = a12; |
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| 69 | m[2][0] = a20; m[2][1] = a21; m[2][2] = a22; |
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| 70 | } |
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| 71 | |
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| 72 | |
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| 73 | void |
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| 74 | Matrix3f::makeIdentity() |
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| 75 | { |
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| 76 | setValue(1,0,0, |
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| 77 | 0,1,0, |
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| 78 | 0,0,1); |
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| 79 | } |
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| 80 | |
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| 81 | |
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| 82 | Vec3f |
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| 83 | Matrix3f::mult(Vec3f& vec) |
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| 84 | { |
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| 85 | return Vec3f(m[0][0] * vec[0] + m[0][1] * vec[1] + m[0][2] * vec[2], |
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| 86 | m[1][0] * vec[0] + m[1][1] * vec[1] + m[1][2] * vec[2], |
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| 87 | m[2][0] * vec[0] + m[2][1] * vec[1] + m[2][2] * vec[2]); |
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| 88 | } |
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| 89 | |
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| 90 | void |
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| 91 | Matrix3f::setScale(float s) |
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| 92 | { |
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| 93 | setScale(s, s, s); |
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| 94 | } |
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| 95 | |
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| 96 | |
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| 97 | void |
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| 98 | Matrix3f::setScale(float sx, float sy, float sz) |
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| 99 | { |
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| 100 | m[0][0] = sx; m[0][1] = 0; m[0][2] = 0; |
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| 101 | m[1][0] = 0; m[1][1] = sy; m[1][2] = 0; |
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| 102 | m[2][0] = 0; m[2][1] = 0; m[2][2] = sz; |
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| 103 | } |
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| 104 | |
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| 105 | |
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| 106 | void |
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| 107 | Matrix3f::setScale(const Vec3f &s) |
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| 108 | { |
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| 109 | setScale(s[0], s[1], s[2]); |
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| 110 | } |
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| 111 | |
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| 112 | |
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| 113 | Matrix3f & |
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| 114 | Matrix3f::multLeft(const Matrix3f &a) |
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| 115 | { |
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| 116 | Matrix3f temp; |
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| 117 | |
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| 118 | temp.clear(); |
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| 119 | for (int i = 0; i < 3; i++) |
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| 120 | for (int j = 0; j < 3; j++) |
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| 121 | for (int k = 0; k < 3; k++) |
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| 122 | temp.m[i][j] += a.m[i][k] * m[k][j]; |
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| 123 | |
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| 124 | setValue(temp); |
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| 125 | |
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| 126 | return *this; |
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| 127 | } |
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| 128 | |
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| 129 | Matrix3f& |
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| 130 | Matrix3f::operator+=(const Matrix3f &a) |
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| 131 | { |
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| 132 | m[0][0] += a.m[0][0]; m[0][1] += a.m[0][1]; m[0][2] += a.m[0][2]; |
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| 133 | m[1][0] += a.m[1][0]; m[1][1] += a.m[1][1]; m[1][2] += a.m[1][2]; |
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| 134 | m[2][0] += a.m[2][0]; m[2][1] += a.m[2][1]; m[2][2] += a.m[2][2]; |
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| 135 | return *this; |
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| 136 | } |
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| 137 | |
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| 138 | |
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| 139 | Matrix3f& |
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| 140 | Matrix3f::operator*=(float a) |
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| 141 | { |
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| 142 | m[0][0] *= a; m[0][1] *= a; m[0][2] *= a; |
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| 143 | m[1][0] *= a; m[1][1] *= a; m[1][2] *= a; |
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| 144 | m[2][0] *= a; m[2][1] *= a; m[2][2] *= a; |
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| 145 | return *this; |
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| 146 | } |
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| 147 | |
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| 148 | |
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| 149 | int |
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| 150 | Matrix3f::operator!=(const Matrix3f &a) |
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| 151 | { |
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| 152 | if (m[0][0] != a.m[0][0]) return TRUE; |
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| 153 | if (m[0][1] != a.m[0][1]) return TRUE; |
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| 154 | if (m[0][2] != a.m[0][2]) return TRUE; |
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| 155 | if (m[1][0] != a.m[1][0]) return TRUE; |
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| 156 | if (m[1][1] != a.m[1][1]) return TRUE; |
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| 157 | if (m[1][2] != a.m[1][2]) return TRUE; |
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| 158 | if (m[2][0] != a.m[2][0]) return TRUE; |
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| 159 | if (m[2][1] != a.m[2][1]) return TRUE; |
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| 160 | if (m[2][2] != a.m[2][2]) return TRUE; |
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| 161 | |
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| 162 | return FALSE; |
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| 163 | } |
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| 164 | |
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| 165 | int |
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| 166 | Matrix3f::operator==(const Matrix3f &a) |
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| 167 | { |
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| 168 | if (m[0][0] != a.m[0][0]) return FALSE; |
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| 169 | if (m[0][1] != a.m[0][1]) return FALSE; |
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| 170 | if (m[0][2] != a.m[0][2]) return FALSE; |
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| 171 | if (m[1][0] != a.m[1][0]) return FALSE; |
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| 172 | if (m[1][1] != a.m[1][1]) return FALSE; |
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| 173 | if (m[1][2] != a.m[1][2]) return FALSE; |
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| 174 | if (m[2][0] != a.m[2][0]) return FALSE; |
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| 175 | if (m[2][1] != a.m[2][1]) return FALSE; |
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| 176 | if (m[2][2] != a.m[2][2]) return FALSE; |
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| 177 | |
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| 178 | return TRUE; |
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| 179 | } |
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| 180 | |
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| 181 | |
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| 182 | float |
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| 183 | Matrix3f::determinant() |
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| 184 | { |
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| 185 | return |
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| 186 | m[0][0] * m[1][1] * m[2][2] + |
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| 187 | m[0][1] * m[1][2] * m[2][0] + |
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| 188 | m[0][2] * m[1][0] * m[2][1] - |
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| 189 | m[0][2] * m[1][1] * m[2][0] - |
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| 190 | m[0][1] * m[1][0] * m[2][2] - |
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| 191 | m[0][0] * m[1][2] * m[2][1]; |
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| 192 | } |
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| 193 | |
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| 194 | |
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| 195 | Matrix3f |
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| 196 | Matrix3f::inverse() const |
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| 197 | { |
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| 198 | Matrix3f result; |
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| 199 | int i, j, k; |
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| 200 | double temp; |
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| 201 | double bigm[6][3]; |
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| 202 | /* Declare identity matrix */ |
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| 203 | |
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| 204 | result.makeIdentity(); |
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| 205 | for (i = 0; i < 3; i++) { |
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| 206 | for (j = 0; j < 3; j++) { |
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| 207 | bigm[i][j] = m[i][j]; |
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| 208 | bigm[i+3][j] = result.m[i][j]; |
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| 209 | } |
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| 210 | } |
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| 211 | |
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| 212 | /* Work across by columns */ |
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| 213 | for (i = 0; i < 3; i++) { |
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| 214 | for (j = i; (bigm[i][j] == 0.0) && (j < 3); j++) |
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| 215 | ; |
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| 216 | if (j == 3) { |
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| 217 | fprintf (stderr, "error: cannot do inverse matrix\n"); |
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| 218 | exit (2); |
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| 219 | } |
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| 220 | else if (i != j) { |
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| 221 | for (k = 0; k < 6; k++) { |
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| 222 | temp = bigm[k][i]; |
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| 223 | bigm[k][i] = bigm[k][j]; |
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| 224 | bigm[k][j] = temp; |
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| 225 | } |
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| 226 | } |
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| 227 | |
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| 228 | /* Divide original row */ |
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| 229 | |
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| 230 | for (j = 5; j >= i; j--) |
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| 231 | bigm[j][i] /= bigm[i][i]; |
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| 232 | |
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| 233 | /* Subtract other rows */ |
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| 234 | |
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| 235 | for (j = 0; j < 3; j++) |
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| 236 | if (i != j) |
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| 237 | for (k = 5; k >= i; k--) |
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| 238 | bigm[k][j] -= bigm[k][i] * bigm[i][j]; |
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| 239 | } |
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| 240 | |
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| 241 | for (i = 0; i < 3; i++) |
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| 242 | for (j = 0; j < 3; j++) |
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| 243 | result.m[i][j] = bigm[i+3][j]; |
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| 244 | |
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| 245 | return result; |
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| 246 | } |
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| 247 | |
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| 248 | |
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| 249 | void |
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| 250 | Matrix3f::map(const Vec3f vin[3], const Vec3f vout[3]) |
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| 251 | { |
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| 252 | /* |
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| 253 | Vec3f x0, x1, x2; |
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| 254 | Matrix3f A; |
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| 255 | float *nrmat[3], d, x0[3], x1[3], x2[3]; |
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| 256 | int indx[3]; |
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| 257 | |
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| 258 | A.setValue(vin[0], vin[1], vin[2]); |
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| 259 | toNR(A, nrmat); |
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| 260 | ludcmp(nrmat-1, 3, indx-1, &d); |
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| 261 | |
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| 262 | x0.setValue(vout[0][0], vout[1][0], vout[2][0]); |
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| 263 | lubksb(nrmat-1, 3, indx-1, &x0[0] - 1); |
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| 264 | |
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| 265 | x1.setValue(vout[0][1], vout[1][1], vout[2][1]); |
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| 266 | lubksb(nrmat-1, 3, indx-1, &x1[0] - 1); |
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| 267 | |
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| 268 | x2.setValue(vout[0][2], vout[1][2], vout[2][2]); |
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| 269 | lubksb(nrmat-1, 3, indx-1, &x2[0] - 1); |
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| 270 | |
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| 271 | setValue(x0, x1, x2); |
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| 272 | */ |
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| 273 | } |
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| 274 | |
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| 275 | |
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| 276 | /* |
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| 277 | |
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| 278 | Matrix3f |
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| 279 | Matrix3f::inverse() const |
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| 280 | { |
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| 281 | Matrix3f temp, result; |
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| 282 | int i; |
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| 283 | |
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| 284 | temp.setValue(*this); |
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| 285 | float *nrmat[3]; |
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| 286 | |
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| 287 | toNR(temp, nrmat); |
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| 288 | |
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| 289 | // See NRC book |
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| 290 | float d, col[3]; |
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| 291 | int indx[3]; |
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| 292 | ludcmp(nrmat-1, 3, indx-1, &d); |
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| 293 | for (int j = 0; j < 3; j++) { |
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| 294 | for (i = 0; i < 3; i++) col[i] = 0; |
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| 295 | col[j] = 1.0; |
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| 296 | lubksb(nrmat-1, 3, indx-1, col-1); |
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| 297 | for(i = 0; i < 3; i++) result.m[i][j] = col[i]; |
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| 298 | } |
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| 299 | |
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| 300 | return Matrix3f(result); |
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| 301 | } |
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| 302 | |
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| 303 | |
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| 304 | void |
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| 305 | Matrix3f::toNR(Matrix3f &in, float **nrmat) const |
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| 306 | { |
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| 307 | nrmat[0] = in.m[0] - 1; |
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| 308 | nrmat[1] = in.m[1] - 1; |
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| 309 | nrmat[2] = in.m[2] - 1; |
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| 310 | } |
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| 311 | */ |
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| 312 | |
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