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matrix3d.h
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1//
2// Copyright 2016 Pixar
3//
4// Licensed under the terms set forth in the LICENSE.txt file available at
5// https://openusd.org/license.
6//
8// This file is generated by a script. Do not edit directly. Edit the
9// matrix3.template.h file to make changes.
10
11#ifndef PXR_BASE_GF_MATRIX3D_H
12#define PXR_BASE_GF_MATRIX3D_H
13
16
17#include "pxr/pxr.h"
18#include "pxr/base/gf/api.h"
19#include "pxr/base/gf/declare.h"
20#include "pxr/base/gf/matrixData.h"
21#include "pxr/base/gf/vec3d.h"
22#include "pxr/base/gf/traits.h"
23#include "pxr/base/tf/hash.h"
24
25#include <iosfwd>
26#include <vector>
27
28PXR_NAMESPACE_OPEN_SCOPE
29
30template <>
31struct GfIsGfMatrix<class GfMatrix3d> { static const bool value = true; };
32
33class GfMatrix3d;
34class GfMatrix3f;
35class GfRotation;
36class GfQuaternion;
37class GfQuatd;
38
65{
66public:
67 typedef double ScalarType;
68
69 static const size_t numRows = 3;
70 static const size_t numColumns = 3;
71
73 GfMatrix3d() = default;
74
78 GfMatrix3d(double m00, double m01, double m02,
79 double m10, double m11, double m12,
80 double m20, double m21, double m22) {
81 Set(m00, m01, m02,
82 m10, m11, m12,
83 m20, m21, m22);
84 }
85
88 GfMatrix3d(const double m[3][3]) {
89 Set(m);
90 }
91
94 explicit GfMatrix3d(double s) {
95 SetDiagonal(s);
96 }
97
100 explicit GfMatrix3d(int s) {
101 SetDiagonal(s);
102 }
103
106 explicit GfMatrix3d(const GfVec3d& v) {
107 SetDiagonal(v);
108 }
109
116 GF_API
117 explicit GfMatrix3d(const std::vector< std::vector<double> >& v);
118
125 GF_API
126 explicit GfMatrix3d(const std::vector< std::vector<float> >& v);
127
129 GF_API
131
133 GF_API
134 explicit GfMatrix3d(const GfQuatd& rot);
135
137 GF_API
138 explicit GfMatrix3d(const class GfMatrix3f& m);
139
141 void SetRow(int i, const GfVec3d & v) {
142 _mtx[i][0] = v[0];
143 _mtx[i][1] = v[1];
144 _mtx[i][2] = v[2];
145 }
146
148 void SetColumn(int i, const GfVec3d & v) {
149 _mtx[0][i] = v[0];
150 _mtx[1][i] = v[1];
151 _mtx[2][i] = v[2];
152 }
153
155 GfVec3d GetRow(int i) const {
156 return GfVec3d(_mtx[i][0], _mtx[i][1], _mtx[i][2]);
157 }
158
160 GfVec3d GetColumn(int i) const {
161 return GfVec3d(_mtx[0][i], _mtx[1][i], _mtx[2][i]);
162 }
163
167 GfMatrix3d& Set(double m00, double m01, double m02,
168 double m10, double m11, double m12,
169 double m20, double m21, double m22) {
170 _mtx[0][0] = m00; _mtx[0][1] = m01; _mtx[0][2] = m02;
171 _mtx[1][0] = m10; _mtx[1][1] = m11; _mtx[1][2] = m12;
172 _mtx[2][0] = m20; _mtx[2][1] = m21; _mtx[2][2] = m22;
173 return *this;
174 }
175
178 GfMatrix3d& Set(const double m[3][3]) {
179 _mtx[0][0] = m[0][0];
180 _mtx[0][1] = m[0][1];
181 _mtx[0][2] = m[0][2];
182 _mtx[1][0] = m[1][0];
183 _mtx[1][1] = m[1][1];
184 _mtx[1][2] = m[1][2];
185 _mtx[2][0] = m[2][0];
186 _mtx[2][1] = m[2][1];
187 _mtx[2][2] = m[2][2];
188 return *this;
189 }
190
193 return SetDiagonal(1);
194 }
195
198 return SetDiagonal(0);
199 }
200
202 GF_API
204
206 GF_API
208
211 GF_API
212 double* Get(double m[3][3]) const;
213
216 double* data() {
217 return _mtx.GetData();
218 }
219
222 const double* data() const {
223 return _mtx.GetData();
224 }
225
227 double* GetArray() {
228 return _mtx.GetData();
229 }
230
232 const double* GetArray() const {
233 return _mtx.GetData();
234 }
235
239 double* operator [](int i) { return _mtx[i]; }
240
244 const double* operator [](int i) const { return _mtx[i]; }
245
247 friend inline size_t hash_value(GfMatrix3d const &m) {
248 return TfHash::Combine(
249 m._mtx[0][0],
250 m._mtx[0][1],
251 m._mtx[0][2],
252 m._mtx[1][0],
253 m._mtx[1][1],
254 m._mtx[1][2],
255 m._mtx[2][0],
256 m._mtx[2][1],
257 m._mtx[2][2]
258 );
259 }
260
263 GF_API
264 bool operator ==(const GfMatrix3d& m) const;
265
268 GF_API
269 bool operator ==(const GfMatrix3f& m) const;
270
273 bool operator !=(const GfMatrix3d& m) const {
274 return !(*this == m);
275 }
276
279 bool operator !=(const GfMatrix3f& m) const {
280 return !(*this == m);
281 }
282
284 GF_API
286
292 GF_API
293 GfMatrix3d GetInverse(double* det = NULL, double eps = 0) const;
294
296 GF_API
297 double GetDeterminant() const;
298
307 GF_API
308 bool Orthonormalize(bool issueWarning=true);
309
311 GF_API
312 GfMatrix3d GetOrthonormalized(bool issueWarning=true) const;
313
317 GF_API
318 double GetHandedness() const;
319
322 bool IsRightHanded() const {
323 return GetHandedness() == 1.0;
324 }
325
328 bool IsLeftHanded() const {
329 return GetHandedness() == -1.0;
330 }
331
333 GF_API
335
337 GF_API
339
341 friend GfMatrix3d operator *(const GfMatrix3d& m1, double d)
342 {
343 GfMatrix3d m = m1;
344 return m *= d;
345 }
346
348 // Returns the product of a matrix and a double.
349 friend GfMatrix3d operator *(double d, const GfMatrix3d& m)
350 {
351 return m * d;
352 }
353
355 GF_API
357
359 GF_API
361
363 GF_API
365
367 friend GfMatrix3d operator +(const GfMatrix3d& m1, const GfMatrix3d& m2)
368 {
369 GfMatrix3d tmp(m1);
370 tmp += m2;
371 return tmp;
372 }
373
375 friend GfMatrix3d operator -(const GfMatrix3d& m1, const GfMatrix3d& m2)
376 {
377 GfMatrix3d tmp(m1);
378 tmp -= m2;
379 return tmp;
380 }
381
383 friend GfMatrix3d operator *(const GfMatrix3d& m1, const GfMatrix3d& m2)
384 {
385 GfMatrix3d tmp(m1);
386 tmp *= m2;
387 return tmp;
388 }
389
391 friend GfMatrix3d operator /(const GfMatrix3d& m1, const GfMatrix3d& m2)
392 {
393 return(m1 * m2.GetInverse());
394 }
395
397 friend inline GfVec3d operator *(const GfMatrix3d& m, const GfVec3d& vec) {
398 return GfVec3d(vec[0] * m._mtx[0][0] + vec[1] * m._mtx[0][1] + vec[2] * m._mtx[0][2],
399 vec[0] * m._mtx[1][0] + vec[1] * m._mtx[1][1] + vec[2] * m._mtx[1][2],
400 vec[0] * m._mtx[2][0] + vec[1] * m._mtx[2][1] + vec[2] * m._mtx[2][2]);
401 }
402
404 friend inline GfVec3d operator *(const GfVec3d &vec, const GfMatrix3d& m) {
405 return GfVec3d(vec[0] * m._mtx[0][0] + vec[1] * m._mtx[1][0] + vec[2] * m._mtx[2][0],
406 vec[0] * m._mtx[0][1] + vec[1] * m._mtx[1][1] + vec[2] * m._mtx[2][1],
407 vec[0] * m._mtx[0][2] + vec[1] * m._mtx[1][2] + vec[2] * m._mtx[2][2]);
408 }
409
411 GF_API
412 GfMatrix3d& SetScale(double scaleFactor);
413
416
418 GF_API
420
422 GF_API
424
427 GF_API
428 GfMatrix3d& SetScale(const GfVec3d &scaleFactors);
429
435 GF_API
437
444 GF_API
446 const GfVec3d &axis1,
447 const GfVec3d &axis2 ) const;
448
454 GF_API
456
458
459private:
462 void _SetRotateFromQuat(double r, const GfVec3d& i);
463
464
465private:
468
469 // Friend declarations
470 friend class GfMatrix3f;
471};
472
473
477GF_API
478bool GfIsClose(GfMatrix3d const &m1, GfMatrix3d const &m2, double tolerance);
479
482GF_API std::ostream& operator<<(std::ostream &, GfMatrix3d const &);
483
484PXR_NAMESPACE_CLOSE_SCOPE
485
486#endif // PXR_BASE_GF_MATRIX3D_H
Declares Gf types.
Stores a 3x3 matrix of double elements.
Definition: matrix3d.h:65
GF_API GfMatrix3d GetTranspose() const
Returns the transpose of the matrix.
friend GfMatrix3d operator+(const GfMatrix3d &m1, const GfMatrix3d &m2)
Adds matrix m2 to m1.
Definition: matrix3d.h:367
friend GfMatrix3d operator*(const GfMatrix3d &m1, double d)
Returns the product of a matrix and a double.
Definition: matrix3d.h:341
GF_API GfMatrix3d(const GfRotation &rot)
Constructor. Initialize matrix from rotation.
GF_API GfMatrix3d & SetDiagonal(const GfVec3d &)
Sets the matrix to have diagonal (v[0], v[1], v[2]).
const double * data() const
Returns const raw access to components of matrix as an array of double values.
Definition: matrix3d.h:222
GF_API GfMatrix3d & SetScale(double scaleFactor)
Sets matrix to specify a uniform scaling by scaleFactor.
GF_API GfMatrix3d & SetRotate(const GfQuatd &rot)
Sets the matrix to specify a rotation equivalent to rot.
GF_API GfQuaternion ExtractRotationQuaternion() const
Returns the quaternion corresponding to this matrix.
GfVec3d GetRow(int i) const
Gets a row of the matrix as a Vec3.
Definition: matrix3d.h:155
GF_API friend GfMatrix3d operator-(const GfMatrix3d &m)
Returns the unary negation of matrix m.
GF_API GfMatrix3d(const std::vector< std::vector< double > > &v)
Constructor.
GF_API double GetDeterminant() const
Returns the determinant of the matrix.
GF_API GfMatrix3d & operator+=(const GfMatrix3d &m)
Adds matrix m to this matrix.
GfVec3d GetColumn(int i) const
Gets a column of the matrix as a Vec3.
Definition: matrix3d.h:160
double * operator[](int i)
Accesses an indexed row i of the matrix as an array of 3 double values so that standard indexing (suc...
Definition: matrix3d.h:239
friend GfMatrix3d operator/(const GfMatrix3d &m1, const GfMatrix3d &m2)
Divides matrix m1 by m2 (that is, m1 * inv(m2)).
Definition: matrix3d.h:391
GF_API GfMatrix3d & SetScale(const GfVec3d &scaleFactors)
Sets the matrix to specify a nonuniform scaling in x, y, and z by the factors in vector scaleFactors.
GF_API bool operator==(const GfMatrix3d &m) const
Tests for element-wise matrix equality.
GfMatrix3d(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
Constructor.
Definition: matrix3d.h:78
void SetRow(int i, const GfVec3d &v)
Sets a row of the matrix from a Vec3.
Definition: matrix3d.h:141
GfMatrix3d & SetZero()
Sets the matrix to zero.
Definition: matrix3d.h:197
GF_API double GetHandedness() const
Returns the sign of the determinant of the matrix, i.e.
GfMatrix3d & SetIdentity()
Sets the matrix to the identity matrix.
Definition: matrix3d.h:192
GF_API GfMatrix3d(const class GfMatrix3f &m)
This explicit constructor converts a "float" matrix to a "double" matrix.
GF_API GfMatrix3d & operator*=(const GfMatrix3d &m)
Post-multiplies matrix m into this matrix.
friend size_t hash_value(GfMatrix3d const &m)
Hash.
Definition: matrix3d.h:247
double * GetArray()
Returns vector components as an array of double values.
Definition: matrix3d.h:227
double * data()
Returns raw access to components of matrix as an array of double values.
Definition: matrix3d.h:216
GfMatrix3d(int s)
This explicit constructor initializes the matrix to s times the identity matrix.
Definition: matrix3d.h:100
GF_API double * Get(double m[3][3]) const
Fills a 3x3 array of double values with the values in the matrix, specified in row-major order.
GfMatrix3d(const GfVec3d &v)
Constructor.
Definition: matrix3d.h:106
GF_API GfMatrix3d GetInverse(double *det=NULL, double eps=0) const
Returns the inverse of the matrix, or FLT_MAX * SetIdentity() if the matrix is singular.
GfMatrix3d(double s)
Constructor.
Definition: matrix3d.h:94
GfMatrix3d(const double m[3][3])
Constructor.
Definition: matrix3d.h:88
GfMatrix3d & Set(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
Sets the matrix from 9 independent double values, specified in row-major order.
Definition: matrix3d.h:167
GfMatrix3d & Set(const double m[3][3])
Sets the matrix from a 3x3 array of double values, specified in row-major order.
Definition: matrix3d.h:178
bool operator!=(const GfMatrix3d &m) const
Tests for element-wise matrix inequality.
Definition: matrix3d.h:273
GF_API bool Orthonormalize(bool issueWarning=true)
Makes the matrix orthonormal in place.
GF_API GfMatrix3d & SetDiagonal(double s)
Sets the matrix to s times the identity matrix.
bool IsLeftHanded() const
Returns true if the vectors in matrix form a left-handed coordinate system.
Definition: matrix3d.h:328
GF_API GfMatrix3d(const GfQuatd &rot)
Constructor. Initialize matrix from a quaternion.
GF_API GfVec3d DecomposeRotation(const GfVec3d &axis0, const GfVec3d &axis1, const GfVec3d &axis2) const
Decompose the rotation corresponding to this matrix about 3 orthogonal axes.
bool IsRightHanded() const
Returns true if the vectors in the matrix form a right-handed coordinate system.
Definition: matrix3d.h:322
void SetColumn(int i, const GfVec3d &v)
Sets a column of the matrix from a Vec3.
Definition: matrix3d.h:148
GfMatrix3d()=default
Default constructor. Leaves the matrix component values undefined.
GF_API GfMatrix3d(const std::vector< std::vector< float > > &v)
Constructor.
GF_API GfMatrix3d & operator-=(const GfMatrix3d &m)
Subtracts matrix m from this matrix.
GF_API GfRotation ExtractRotation() const
Returns the rotation corresponding to this matrix.
const double * GetArray() const
Returns vector components as a const array of double values.
Definition: matrix3d.h:232
GF_API GfMatrix3d GetOrthonormalized(bool issueWarning=true) const
Returns an orthonormalized copy of the matrix.
GF_API GfMatrix3d & SetRotate(const GfRotation &rot)
Sets the matrix to specify a rotation equivalent to rot.
Stores a 3x3 matrix of float elements.
Definition: matrix3f.h:65
A class template used by GfMatrixXX to store values.
Definition: matrixData.h:19
T * GetData()
Return a pointer to the start of all the data.
Definition: matrixData.h:33
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients,...
Definition: quatd.h:43
Basic type: complex number with scalar real part and vector imaginary part.
Definition: quaternion.h:33
Basic type: 3-space rotation specification.
Definition: rotation.h:37
Basic type for a vector of 3 double components.
Definition: vec3d.h:46
static size_t Combine(Args &&... args)
Produce a hash code by combining the hash codes of several objects.
Definition: hash.h:475
GF_API std::ostream & operator<<(std::ostream &, const GfBBox3d &)
Output a GfBBox3d using the format [(range) matrix zeroArea].
GF_API bool GfIsClose(GfMatrix3d const &m1, GfMatrix3d const &m2, double tolerance)
Tests for equality within a given tolerance, returning true if the difference between each component ...
A metafunction with a static const bool member 'value' that is true for GfMatrix types,...
Definition: traits.h:25