matrix3d.h

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//
// Copyright 2016 Pixar
//
// Licensed under the Apache License, Version 2.0 (the "Apache License")
// with the following modification; you may not use this file except in
// compliance with the Apache License and the following modification to it:
// Section 6. Trademarks. is deleted and replaced with:
//
// 6. Trademarks. This License does not grant permission to use the trade
//    names, trademarks, service marks, or product names of the Licensor
//    and its affiliates, except as required to comply with Section 4(c) of
//    the License and to reproduce the content of the NOTICE file.
//
// You may obtain a copy of the Apache License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the Apache License with the above modification is
// distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
// KIND, either express or implied. See the Apache License for the specific
// language governing permissions and limitations under the Apache License.
//
// This file is generated by a script.  Do not edit directly.  Edit the
// matrix3.template.h file to make changes.

#ifndef PXR_BASE_GF_MATRIX3D_H
#define PXR_BASE_GF_MATRIX3D_H


#include "pxr/pxr.h"
#include "pxr/base/gf/api.h"
#include "pxr/base/gf/declare.h"
#include "pxr/base/gf/matrixData.h"
#include "pxr/base/gf/vec3d.h"
#include "pxr/base/gf/traits.h"
#include "pxr/base/tf/hash.h"

#include <iosfwd>
#include <vector>

PXR_NAMESPACE_OPEN_SCOPE

template <>
struct GfIsGfMatrix<class GfMatrix3d> { static const bool value = true; };

class GfMatrix3d;
class GfMatrix3f;
class GfRotation;
class GfQuaternion;
class GfQuatd;

class GfMatrix3d
{
public:
    typedef double ScalarType;

    static const size_t numRows = 3;
    static const size_t numColumns = 3;

    GfMatrix3d() = default;

    GfMatrix3d(double m00, double m01, double m02, 
               double m10, double m11, double m12, 
               double m20, double m21, double m22) {
        Set(m00, m01, m02, 
            m10, m11, m12, 
            m20, m21, m22);
    }

    GfMatrix3d(const double m[3][3]) {
        Set(m);
    }

    explicit GfMatrix3d(double s) {
        SetDiagonal(s);
    }

    explicit GfMatrix3d(int s) {
        SetDiagonal(s);
    }

    explicit GfMatrix3d(const GfVec3d& v) {
        SetDiagonal(v);
    }

    GF_API
    explicit GfMatrix3d(const std::vector< std::vector<double> >& v);

    GF_API
    explicit GfMatrix3d(const std::vector< std::vector<float> >& v);

    GF_API
    GfMatrix3d(const GfRotation& rot);

    GF_API
    explicit GfMatrix3d(const GfQuatd& rot);

    GF_API
    explicit GfMatrix3d(const class GfMatrix3f& m);

    void SetRow(int i, const GfVec3d & v) {
        _mtx[i][0] = v[0];
        _mtx[i][1] = v[1];
        _mtx[i][2] = v[2];
    }

    void SetColumn(int i, const GfVec3d & v) {
        _mtx[0][i] = v[0];
        _mtx[1][i] = v[1];
        _mtx[2][i] = v[2];
    }

    GfVec3d GetRow(int i) const {
        return GfVec3d(_mtx[i][0], _mtx[i][1], _mtx[i][2]);
    }

    GfVec3d GetColumn(int i) const {
        return GfVec3d(_mtx[0][i], _mtx[1][i], _mtx[2][i]);
    }

    GfMatrix3d& Set(double m00, double m01, double m02, 
                    double m10, double m11, double m12, 
                    double m20, double m21, double m22) {
        _mtx[0][0] = m00; _mtx[0][1] = m01; _mtx[0][2] = m02; 
        _mtx[1][0] = m10; _mtx[1][1] = m11; _mtx[1][2] = m12; 
        _mtx[2][0] = m20; _mtx[2][1] = m21; _mtx[2][2] = m22;
        return *this;
    }

    GfMatrix3d& Set(const double m[3][3]) {
        _mtx[0][0] = m[0][0];
        _mtx[0][1] = m[0][1];
        _mtx[0][2] = m[0][2];
        _mtx[1][0] = m[1][0];
        _mtx[1][1] = m[1][1];
        _mtx[1][2] = m[1][2];
        _mtx[2][0] = m[2][0];
        _mtx[2][1] = m[2][1];
        _mtx[2][2] = m[2][2];
        return *this;
    }

    GfMatrix3d& SetIdentity() {
        return SetDiagonal(1);
    }

    GfMatrix3d& SetZero() {
        return SetDiagonal(0);
    }

    GF_API
    GfMatrix3d& SetDiagonal(double s);

    GF_API
    GfMatrix3d& SetDiagonal(const GfVec3d&);

    GF_API
    double* Get(double m[3][3]) const;

    double* data() {
        return _mtx.GetData();
    }

    const double* data() const {
        return _mtx.GetData();
    }

    double* GetArray()  {
        return _mtx.GetData();
    }

    const double* GetArray() const {
        return _mtx.GetData();
    }

    double* operator [](int i) { return _mtx[i]; }

    const double* operator [](int i) const { return _mtx[i]; }

    friend inline size_t hash_value(GfMatrix3d const &m) {
        return TfHash::Combine(
            m._mtx[0][0],
            m._mtx[0][1],
            m._mtx[0][2],
            m._mtx[1][0],
            m._mtx[1][1],
            m._mtx[1][2],
            m._mtx[2][0],
            m._mtx[2][1],
            m._mtx[2][2]
        );
    }

    GF_API
    bool operator ==(const GfMatrix3d& m) const;

    GF_API
    bool operator ==(const GfMatrix3f& m) const;

    bool operator !=(const GfMatrix3d& m) const {
        return !(*this == m);
    }

    bool operator !=(const GfMatrix3f& m) const {
        return !(*this == m);
    }

    GF_API
    GfMatrix3d GetTranspose() const;

    GF_API
    GfMatrix3d GetInverse(double* det = NULL, double eps = 0) const;

    GF_API
    double GetDeterminant() const;

    GF_API
    bool Orthonormalize(bool issueWarning=true);

    GF_API
    GfMatrix3d GetOrthonormalized(bool issueWarning=true) const;

    GF_API
    double GetHandedness() const;

    bool IsRightHanded() const {
        return GetHandedness() == 1.0;
    }

    bool IsLeftHanded() const {
        return GetHandedness() == -1.0;
    }

    GF_API
    GfMatrix3d& operator *=(const GfMatrix3d& m);

    GF_API
    GfMatrix3d& operator *=(double);

    friend GfMatrix3d operator *(const GfMatrix3d& m1, double d)
    {
        GfMatrix3d m = m1;
        return m *= d;
    }

    // Returns the product of a matrix and a double.
    friend GfMatrix3d operator *(double d, const GfMatrix3d& m)
    {
        return m * d;
    }

    GF_API
    GfMatrix3d& operator +=(const GfMatrix3d& m);

    GF_API
    GfMatrix3d& operator -=(const GfMatrix3d& m);

    GF_API
    friend GfMatrix3d operator -(const GfMatrix3d& m);

    friend GfMatrix3d operator +(const GfMatrix3d& m1, const GfMatrix3d& m2)
    {
        GfMatrix3d tmp(m1);
        tmp += m2;
        return tmp;
    }

    friend GfMatrix3d operator -(const GfMatrix3d& m1, const GfMatrix3d& m2)
    {
        GfMatrix3d tmp(m1);
        tmp -= m2;
        return tmp;
    }

    friend GfMatrix3d operator *(const GfMatrix3d& m1, const GfMatrix3d& m2)
    {
        GfMatrix3d tmp(m1);
        tmp *= m2;
        return tmp;
    }

    friend GfMatrix3d operator /(const GfMatrix3d& m1, const GfMatrix3d& m2)
    {
        return(m1 * m2.GetInverse());
    }

    friend inline GfVec3d operator *(const GfMatrix3d& m, const GfVec3d& vec) {
        return GfVec3d(vec[0] * m._mtx[0][0] + vec[1] * m._mtx[0][1] + vec[2] * m._mtx[0][2],
                       vec[0] * m._mtx[1][0] + vec[1] * m._mtx[1][1] + vec[2] * m._mtx[1][2],
                       vec[0] * m._mtx[2][0] + vec[1] * m._mtx[2][1] + vec[2] * m._mtx[2][2]);
    }

    friend inline GfVec3d operator *(const GfVec3d &vec, const GfMatrix3d& m) {
        return GfVec3d(vec[0] * m._mtx[0][0] + vec[1] * m._mtx[1][0] + vec[2] * m._mtx[2][0],
                       vec[0] * m._mtx[0][1] + vec[1] * m._mtx[1][1] + vec[2] * m._mtx[2][1],
                       vec[0] * m._mtx[0][2] + vec[1] * m._mtx[1][2] + vec[2] * m._mtx[2][2]);
    }

    GF_API
    friend GfVec3f operator *(const GfMatrix3d& m, const GfVec3f& vec);

    GF_API
    friend GfVec3f operator *(const GfVec3f &vec, const GfMatrix3d& m);

    GF_API
    GfMatrix3d& SetScale(double scaleFactor);


    GF_API
    GfMatrix3d& SetRotate(const GfQuatd &rot);

    GF_API
    GfMatrix3d& SetRotate(const GfRotation &rot);

    GF_API
    GfMatrix3d& SetScale(const GfVec3d &scaleFactors);

    GF_API
    GfRotation ExtractRotation() const;

    GF_API
    GfVec3d DecomposeRotation(const GfVec3d &axis0,
                              const GfVec3d &axis1,
                              const GfVec3d &axis2 ) const;

    GF_API
    GfQuaternion ExtractRotationQuaternion() const;


private:
    void _SetRotateFromQuat(double r, const GfVec3d& i);


private:
    GfMatrixData<double, 3, 3> _mtx;

    // Friend declarations
    friend class GfMatrix3f;
};


GF_API 
bool GfIsClose(GfMatrix3d const &m1, GfMatrix3d const &m2, double tolerance);

GF_API std::ostream& operator<<(std::ostream &, GfMatrix3d const &);

PXR_NAMESPACE_CLOSE_SCOPE

#endif // PXR_BASE_GF_MATRIX3D_H