VTK  9.3.0
vtkMatrix4x4.h
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1// SPDX-FileCopyrightText: Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
2// SPDX-License-Identifier: BSD-3-Clause
23#ifndef vtkMatrix4x4_h
24#define vtkMatrix4x4_h
25
26#include "vtkCommonMathModule.h" // For export macro
27#include "vtkObject.h"
28
29VTK_ABI_NAMESPACE_BEGIN
30class VTKCOMMONMATH_EXPORT vtkMatrix4x4 : public vtkObject
31{
32public:
34 double Element[4][4];
35
39 static vtkMatrix4x4* New();
40
41 vtkTypeMacro(vtkMatrix4x4, vtkObject);
42 void PrintSelf(ostream& os, vtkIndent indent) override;
43
49 {
50 vtkMatrix4x4::DeepCopy(*this->Element, source);
51 this->Modified();
52 }
53
58 static void DeepCopy(double destination[16], const vtkMatrix4x4* source)
59 {
60 vtkMatrix4x4::DeepCopy(destination, *source->Element);
61 }
62
67 static void DeepCopy(double destination[16], const double source[16]);
68
73 void DeepCopy(const double elements[16])
74 {
75 vtkMatrix4x4::DeepCopy(*this->Element, elements);
76 this->Modified();
77 }
78
82 void Zero()
83 {
84 vtkMatrix4x4::Zero(*this->Element);
85 this->Modified();
86 }
87 static void Zero(double elements[16]);
88
92 void Identity()
93 {
94 vtkMatrix4x4::Identity(*this->Element);
95 this->Modified();
96 }
97 static void Identity(double elements[16]);
98
102 bool IsIdentity();
103
108 static void Invert(const vtkMatrix4x4* in, vtkMatrix4x4* out)
109 {
111 out->Modified();
112 }
113 void Invert() { vtkMatrix4x4::Invert(this, this); }
114 static void Invert(const double inElements[16], double outElements[16]);
115
119 static void Transpose(const vtkMatrix4x4* in, vtkMatrix4x4* out)
120 {
122 out->Modified();
123 }
124 void Transpose() { vtkMatrix4x4::Transpose(this, this); }
125 static void Transpose(const double inElements[16], double outElements[16]);
126
128
131 static void MatrixFromRotation(double angle, double x, double y, double z, vtkMatrix4x4* result);
132 static void MatrixFromRotation(double angle, double x, double y, double z, double matrix[16]);
134
141 static void PoseToMatrix(double pos[3], double ori[4], vtkMatrix4x4* mat);
142
147 void MultiplyPoint(const float in[4], float out[4])
148 {
149 vtkMatrix4x4::MultiplyPoint(*this->Element, in, out);
150 }
151 void MultiplyPoint(const double in[4], double out[4])
152 {
153 vtkMatrix4x4::MultiplyPoint(*this->Element, in, out);
154 }
155
156 static void MultiplyPoint(const double elements[16], const float in[4], float out[4]);
157 static void MultiplyPoint(const double elements[16], const double in[4], double out[4]);
158
162 float* MultiplyPoint(const float in[4]) VTK_SIZEHINT(4) { return this->MultiplyFloatPoint(in); }
163 double* MultiplyPoint(const double in[4]) VTK_SIZEHINT(4)
164 {
165 return this->MultiplyDoublePoint(in);
166 }
167 float* MultiplyFloatPoint(const float in[4]) VTK_SIZEHINT(4)
168 {
169 this->MultiplyPoint(in, this->FloatPoint);
170 return this->FloatPoint;
171 }
172 double* MultiplyDoublePoint(const double in[4]) VTK_SIZEHINT(4)
173 {
174 this->MultiplyPoint(in, this->DoublePoint);
175 return this->DoublePoint;
176 }
177
179
182 static void Multiply4x4(const vtkMatrix4x4* a, const vtkMatrix4x4* b, vtkMatrix4x4* c);
183 static void Multiply4x4(const double a[16], const double b[16], double c[16]);
184 static void Multiply4x4(const double a[16], const double b[16], float c[16]);
185 static void MultiplyAndTranspose4x4(const double a[16], const double b[16], float c[16]);
187
191 void Adjoint(const vtkMatrix4x4* in, vtkMatrix4x4* out)
192 {
194 }
195 static void Adjoint(const double inElements[16], double outElements[16]);
196
200 double Determinant() { return vtkMatrix4x4::Determinant(*this->Element); }
201 static double Determinant(const double elements[16]);
202
206 void SetElement(int i, int j, double value);
207
211 double GetElement(int i, int j) const { return this->Element[i][j]; }
212
216 double* GetData() { return *this->Element; }
217
221 const double* GetData() const { return *this->Element; }
222
223protected:
225 ~vtkMatrix4x4() override = default;
226
227 float FloatPoint[4];
228 double DoublePoint[4];
229
230private:
231 vtkMatrix4x4(const vtkMatrix4x4&) = delete;
232 void operator=(const vtkMatrix4x4&) = delete;
233};
234
235//----------------------------------------------------------------------------
236// Multiplies matrices a and b and stores the result in c.
237inline void vtkMatrix4x4::Multiply4x4(const double a[16], const double b[16], double c[16])
238{
239 double tmp[16];
240
241 for (int i = 0; i < 16; i += 4)
242 {
243 for (int j = 0; j < 4; j++)
244 {
245 tmp[i + j] =
246 a[i + 0] * b[j + 0] + a[i + 1] * b[j + 4] + a[i + 2] * b[j + 8] + a[i + 3] * b[j + 12];
247 }
248 }
249
250 for (int k = 0; k < 16; k++)
251 {
252 c[k] = tmp[k];
253 }
254}
255
256//----------------------------------------------------------------------------
257// Multiplies matrices a and b and stores the result in c.
258inline void vtkMatrix4x4::Multiply4x4(const double a[16], const double b[16], float c[16])
259{
260 for (int i = 0; i < 16; i += 4)
261 {
262 for (int j = 0; j < 4; j++)
263 {
264 c[i + j] =
265 a[i + 0] * b[j + 0] + a[i + 1] * b[j + 4] + a[i + 2] * b[j + 8] + a[i + 3] * b[j + 12];
266 }
267 }
268}
269
270//----------------------------------------------------------------------------
271// Multiplies matrices a and b and stores the result in c.
273 const double a[16], const double b[16], float c[16])
274{
275 for (int i = 0; i < 4; i++)
276 {
277 for (int j = 0; j < 4; j++)
278 {
279 int it4 = i * 4;
280 c[i + j * 4] = a[it4 + 0] * b[j + 0] + a[it4 + 1] * b[j + 4] + a[it4 + 2] * b[j + 8] +
281 a[it4 + 3] * b[j + 12];
282 }
283 }
284}
285
286//----------------------------------------------------------------------------
288{
290}
291
292//----------------------------------------------------------------------------
293inline void vtkMatrix4x4::SetElement(int i, int j, double value)
294{
295 if (this->Element[i][j] != value)
296 {
297 this->Element[i][j] = value;
298 this->Modified();
299 }
300}
301
302//----------------------------------------------------------------------------
304{
305 double* M = *this->Element;
306 return M[0] == 1.0 && M[1] == 0.0 && M[2] == 0.0 && M[3] == 0.0 && M[4] == 0.0 && M[5] == 1.0 &&
307 M[6] == 0.0 && M[7] == 0.0 && M[8] == 0.0 && M[9] == 0.0 && M[10] == 1.0 && M[11] == 0.0 &&
308 M[12] == 0.0 && M[13] == 0.0 && M[14] == 0.0 && M[15] == 1.0;
309}
310
311VTK_ABI_NAMESPACE_END
312#endif
a simple class to control print indentation
Definition vtkIndent.h:29
represent and manipulate 4x4 transformation matrices
static void Transpose(const double inElements[16], double outElements[16])
static double Determinant(const double elements[16])
void DeepCopy(const vtkMatrix4x4 *source)
Set the elements of the matrix to the same values as the elements of the given source matrix.
static vtkMatrix4x4 * New()
Construct a 4x4 identity matrix.
void DeepCopy(const double elements[16])
Non-static member function.
double GetElement(int i, int j) const
Returns the element i,j from the matrix.
static void MatrixFromRotation(double angle, double x, double y, double z, double matrix[16])
Construct a matrix from a rotation.
double * MultiplyDoublePoint(const double in[4])
void PrintSelf(ostream &os, vtkIndent indent) override
Methods invoked by print to print information about the object including superclasses.
static void Multiply4x4(const vtkMatrix4x4 *a, const vtkMatrix4x4 *b, vtkMatrix4x4 *c)
Multiplies matrices a and b and stores the result in c.
void MultiplyPoint(const double in[4], double out[4])
static void Adjoint(const double inElements[16], double outElements[16])
void MultiplyPoint(const float in[4], float out[4])
Multiply a homogeneous coordinate by this matrix, i.e.
void Adjoint(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
Compute adjoint of the matrix and put it into out.
void Identity()
Set equal to Identity matrix.
static void MatrixFromRotation(double angle, double x, double y, double z, vtkMatrix4x4 *result)
Construct a matrix from a rotation.
double Determinant()
Compute the determinant of the matrix and return it.
void SetElement(int i, int j, double value)
Sets the element i,j in the matrix.
static void DeepCopy(double destination[16], const vtkMatrix4x4 *source)
Set the elements of the given destination buffer to the same values as the elements of the given sour...
void Zero()
Set all of the elements to zero.
double * GetData()
Returns the raw double array holding the matrix.
double Element[4][4]
The internal data is public for historical reasons. Do not use!
static void MultiplyAndTranspose4x4(const double a[16], const double b[16], float c[16])
Multiplies matrices a and b and stores the result in c.
static void DeepCopy(double destination[16], const double source[16])
Copies the given source buffer to the given destination buffer.
static void Invert(const double inElements[16], double outElements[16])
static void Invert(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
Matrix Inversion (adapted from Richard Carling in "Graphics Gems," Academic Press,...
static void PoseToMatrix(double pos[3], double ori[4], vtkMatrix4x4 *mat)
Given an orientation and position this function will fill in a matrix representing the transformation...
float * MultiplyPoint(const float in[4])
For use in Java or Python.
double * MultiplyPoint(const double in[4])
float * MultiplyFloatPoint(const float in[4])
static void Identity(double elements[16])
static void MultiplyPoint(const double elements[16], const double in[4], double out[4])
static void Zero(double elements[16])
static void Transpose(const vtkMatrix4x4 *in, vtkMatrix4x4 *out)
Transpose the matrix and put it into out.
const double * GetData() const
Returns the raw double array holding the matrix.
~vtkMatrix4x4() override=default
static void MultiplyPoint(const double elements[16], const float in[4], float out[4])
bool IsIdentity()
Returns true if this matrix is equal to the identity matrix.
abstract base class for most VTK objects
Definition vtkObject.h:49
virtual void Modified()
Update the modification time for this object.
boost::graph_traits< vtkGraph * >::vertex_descriptor source(boost::graph_traits< vtkGraph * >::edge_descriptor e, vtkGraph *)
#define VTK_SIZEHINT(...)