5 * Copyright (c) 2020 Samsung Electronics Co., Ltd.
7 * Licensed under the Apache License, Version 2.0 (the "License");
8 * you may not use this file except in compliance with the License.
9 * You may obtain a copy of the License at
11 * http://www.apache.org/licenses/LICENSE-2.0
13 * Unless required by applicable law or agreed to in writing, software
14 * distributed under the License is distributed on an "AS IS" BASIS,
15 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
16 * See the License for the specific language governing permissions and
17 * limitations under the License.
22 #include <dali/public-api/math/vector3.h>
23 #include <dali/public-api/math/matrix.h>
24 #include <dali/public-api/common/type-traits.h>
29 * @addtogroup dali_core_math
37 * @brief A 3x3 matrix.
39 * The matrix is stored as a flat array and is Column Major, i.e. the storage order is as follows (numbers represent
50 * Each axis is contiguous in memory, so the x-axis corresponds to elements 0, 1 and 2, the y-axis corresponds to
51 * elements 3, 4 and 5, and the z-axis corresponds to elements 6, 7 and 8.
55 class DALI_CORE_API Matrix3
59 friend DALI_CORE_API std::ostream& operator<< (std::ostream& o, const Matrix3& matrix);
62 * @brief The identity matrix.
64 static const Matrix3 IDENTITY;
73 * @brief Copy Constructor.
76 * @param[in] m A reference to the copied 3x3 matrix
78 Matrix3(const Matrix3& m);
84 * @param[in] m A 4x4 matrix. The translation and shear components are ignored
86 Matrix3(const Matrix& m);
92 * @param[in] s00 First element
93 * @param[in] s01 Second element
94 * @param[in] s02 Third element
95 * @param[in] s10 Fourth element
96 * @param[in] s11 Fifth element
97 * @param[in] s12 Sixth element
98 * @param[in] s20 Seventh element
99 * @param[in] s21 Eighth element
100 * @param[in] s22 Ninth element
102 Matrix3(float s00, float s01, float s02, float s10, float s11, float s12, float s20, float s21, float s22);
105 * @brief Move constructor.
108 * @param[in] matrix A reference to the moved matrix
110 Matrix3( Matrix3&& matrix );
113 * @brief Move assignment operator.
116 * @param[in] matrix A reference to the moved matrix
117 * @return A reference to this
119 Matrix3& operator=( Matrix3&& matrix );
122 * @brief Assignment Operator.
124 * @param[in] matrix From which to copy values
125 * @return Reference to this object
127 Matrix3& operator=( const Matrix3& matrix );
130 * @brief Assignment Operator.
132 * @param[in] matrix A reference to the copied matrix
133 * @return A reference to this
135 Matrix3& operator=( const Matrix& matrix );
138 * @brief The equality operator.
140 * Utilizes appropriate machine epsilon values.
143 * @param[in] rhs The Matrix to compare this to
144 * @return True if the matrices are equal
146 bool operator==(const Matrix3 & rhs) const;
149 * @brief The inequality operator.
151 * Utilizes appropriate machine epsilon values.
154 * @param[in] rhs The Matrix to compare this to
155 * @return true if the matrices are equal
157 bool operator!=(const Matrix3 & rhs) const;
168 * @brief Sets the matrix to the identity matrix.
174 * @brief Returns the contents of the matrix as an array of 9 floats.
176 * The order of the values for a matrix is:
179 * [ xAxis.x, xAxis.y, xAxis.z, yAxis.x, yAxis.y, yAxis.z, zAxis.x, zAxis.y, zAxis.z ]
183 * @return The matrix contents as an array of 9 floats
185 const float* AsFloat() const {return &mElements[0];}
188 * @brief Returns the contents of the matrix as an array of 9 floats.
190 * The order of the values for a matrix is:
193 * [ xAxis.x, xAxis.y, xAxis.z, yAxis.x, yAxis.y, yAxis.z, zAxis.x, zAxis.y, zAxis.z ]
197 * @return The matrix contents as an array of 9 floats
199 float* AsFloat() {return &mElements[0];}
202 * @brief Inverts the matrix.
205 * @return True if successful
210 * @brief Swaps the rows to columns.
212 * @return True if successful
217 * @brief Multiplies all elements of the matrix by the scale value.
220 * @param[in] scale The value by which to scale the whole matrix
222 void Scale(float scale);
225 * @brief Magnitude returns the average of the absolute values of the
228 * (The Magnitude of the unit matrix is therefore 1)
230 * @return The magnitude - always positive
232 float Magnitude() const;
235 * @brief If the matrix is invertible, then this method inverts, transposes
236 * and scales the matrix such that the resultant element values
239 * If the matrix is not invertible, then the matrix is left unchanged.
242 * @return @c true if the matrix is invertible, otherwise @c false
244 bool ScaledInverseTranspose();
247 * @brief Function to multiply two matrices and store the result onto third.
249 * Use this method in time critical path as it does not require temporaries
254 * @param[out] result Result of the multiplication
255 * @param[in] lhs Matrix, this can be same matrix as result
256 * @param[in] rhs Matrix, this cannot be same matrix as result
258 static void Multiply( Matrix3& result, const Matrix3& lhs, const Matrix3& rhs );
262 float mElements[9]; ///< The elements of the matrix
266 * @brief Prints a 3x3 matrix.
269 * @param[in] o The output stream operator
270 * @param[in] matrix The matrix to print
271 * @return The output stream operator
273 DALI_CORE_API std::ostream& operator<< (std::ostream& o, const Matrix3& matrix);
275 // Allow Matrix3 to be treated as a POD type
276 template <> struct TypeTraits< Matrix3 > : public BasicTypes< Matrix3 > { enum { IS_TRIVIAL_TYPE = true }; };
283 #endif //DALI_MATRIX3_H