matrix3x3.h

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/*
 * This program source code file is part of KICAD, a free EDA CAD application.
 *
 * Copyright (C) 2012 Torsten Hueter, torstenhtr <at> gmx.de
 * Copyright (C) 2012-2021 Kicad Developers, see AUTHORS.txt for contributors.
 *
 * Matrix class (3x3)
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *-
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, you may find one here:
 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.html
 * or you may search the http://www.gnu.org website for the version 2 license,
 * or you may write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA
 */
 
#ifndef MATRIX3X3_H_
#define MATRIX3X3_H_
 
#include <math/vector2d.h>
#include <math/vector3.h>
 
// Forward declaration for template friends
template <class T>
class MATRIX3x3;
 
template <class T>
std::ostream& operator<<( std::ostream& aStream, const MATRIX3x3<T>& aMatrix );
 
template <class T>
class MATRIX3x3
{
public:
    T m_data[3][3];
 
    MATRIX3x3();
 
    MATRIX3x3( VECTOR3<T> a1, VECTOR3<T> a2, VECTOR3<T> a3 );
 
    MATRIX3x3( T a00, T a01, T a02, T a10, T a11, T a12, T a20, T a21, T a22 );
 
    void SetIdentity();
 
    void SetTranslation( VECTOR2<T> aTranslation );
 
    VECTOR2<T> GetTranslation() const;
 
    void SetRotation( T aAngle );
 
    void SetScale( VECTOR2<T> aScale );
 
    VECTOR2<T> GetScale() const;
 
    T Determinant() const;
 
    MATRIX3x3 Inverse() const;
 
    MATRIX3x3 Transpose() const;
 
    friend std::ostream& operator<<<T>( std::ostream& aStream, const MATRIX3x3<T>& aMatrix );
 
    bool operator==( const MATRIX3x3<T>& aOtherMatrix ) const;
 
    bool operator!=( const MATRIX3x3<T>& aOtherMatrix ) const;
};
 
// Operators
 
template <class T> MATRIX3x3<T> const operator*( MATRIX3x3<T> const& aA, MATRIX3x3<T> const& aB );
 
template <class T> VECTOR2<T> const operator*( MATRIX3x3<T> const& aA, VECTOR2<T> const& aB );
 
template <class T> VECTOR3<T> const operator*( MATRIX3x3<T> const& aA, VECTOR3<T> const& aB );
 
template <class T, class S> MATRIX3x3<T> const operator*( MATRIX3x3<T> const& aA, T aScalar );
template <class T, class S> MATRIX3x3<T> const operator*( T aScalar, MATRIX3x3<T> const& aMatrix );
 
// ----------------------
// --- Implementation ---
// ----------------------
 
template <class T>
MATRIX3x3<T>::MATRIX3x3()
{
    for( int j = 0; j < 3; j++ )
    {
        for( int i = 0; i < 3; i++ )
        {
            m_data[i][j] = 0.0;
        }
    }
}
 
 
template <class T>
MATRIX3x3<T>::MATRIX3x3( VECTOR3<T> a1, VECTOR3<T> a2, VECTOR3<T> a3 )
{
    m_data[0][0] = a1.x;
    m_data[0][1] = a1.y;
    m_data[0][2] = a1.z;
 
    m_data[1][0] = a2.x;
    m_data[1][1] = a2.y;
    m_data[1][2] = a2.z;
 
    m_data[2][0] = a3.x;
    m_data[2][1] = a3.y;
    m_data[2][2] = a3.z;
}
 
 
template <class T>
MATRIX3x3<T>::MATRIX3x3( T a00, T a01, T a02, T a10, T a11, T a12, T a20, T a21, T a22 )
{
    m_data[0][0] = a00;
    m_data[0][1] = a01;
    m_data[0][2] = a02;
 
    m_data[1][0] = a10;
    m_data[1][1] = a11;
    m_data[1][2] = a12;
 
    m_data[2][0] = a20;
    m_data[2][1] = a21;
    m_data[2][2] = a22;
}
 
 
template <class T>
void MATRIX3x3<T>::SetIdentity( void )
{
    for( int j = 0; j < 3; j++ )
    {
        for( int i = 0; i < 3; i++ )
        {
            if( i == j )
                m_data[i][j] = 1.0;
            else
                m_data[i][j] = 0.0;
        }
    }
}
 
 
template <class T>
void MATRIX3x3<T>::SetTranslation( VECTOR2<T> aTranslation )
{
    m_data[0][2] = aTranslation.x;
    m_data[1][2] = aTranslation.y;
}
 
 
template <class T>
VECTOR2<T> MATRIX3x3<T>::GetTranslation() const
{
    VECTOR2<T> result;
    result.x = m_data[0][2];
    result.y = m_data[1][2];
 
    return result;
}
 
 
template <class T>
void MATRIX3x3<T>::SetRotation( T aAngle )
{
    T cosValue = cos( aAngle );
    T sinValue = sin( aAngle );
    m_data[0][0] = cosValue;
    m_data[0][1] = -sinValue;
    m_data[1][0] = sinValue;
    m_data[1][1] = cosValue;
}
 
 
template <class T>
void MATRIX3x3<T>::SetScale( VECTOR2<T> aScale )
{
    m_data[0][0] = aScale.x;
    m_data[1][1] = aScale.y;
}
 
 
template <class T>
VECTOR2<T> MATRIX3x3<T>::GetScale() const
{
    VECTOR2<T> result( m_data[0][0], m_data[1][1] );
 
    return result;
}
 
 
template <class T>
MATRIX3x3<T> const operator*( MATRIX3x3<T> const& aA, MATRIX3x3<T> const& aB )
{
    MATRIX3x3<T> result;
 
    for( int i = 0; i < 3; i++ )
    {
        for( int j = 0; j < 3; j++ )
        {
            result.m_data[i][j] = aA.m_data[i][0] * aB.m_data[0][j] +
                                  aA.m_data[i][1] * aB.m_data[1][j] +
                                  aA.m_data[i][2] * aB.m_data[2][j];
        }
    }
 
    return result;
}
 
 
template <class T>
VECTOR2<T> const operator*( MATRIX3x3<T> const& aMatrix, VECTOR2<T> const& aVector )
{
    VECTOR2<T> result( 0, 0 );
    result.x = aMatrix.m_data[0][0] * aVector.x + aMatrix.m_data[0][1] * aVector.y
               + aMatrix.m_data[0][2];
    result.y = aMatrix.m_data[1][0] * aVector.x + aMatrix.m_data[1][1] * aVector.y
               + aMatrix.m_data[1][2];
 
    return result;
}
 
 
template <class T>
VECTOR3<T> const operator*( MATRIX3x3<T> const& aMatrix, VECTOR3<T> const& aVector )
{
    VECTOR3<T> result( 0, 0, 0 );
    result.x = aMatrix.m_data[0][0] * aVector.x + aMatrix.m_data[0][1] * aVector.y
               + aMatrix.m_data[0][2] * aVector.z;
    result.y = aMatrix.m_data[1][0] * aVector.x + aMatrix.m_data[1][1] * aVector.y
               + aMatrix.m_data[1][2] * aVector.z;
    result.z = aMatrix.m_data[2][0] * aVector.x + aMatrix.m_data[2][1] * aVector.y
               + aMatrix.m_data[2][2] * aVector.z;
 
    return result;
}
 
 
template <class T>
T MATRIX3x3<T>::Determinant() const
{
    return m_data[0][0] * ( m_data[1][1] * m_data[2][2] - m_data[1][2] * m_data[2][1] )
           - m_data[0][1] * ( m_data[1][0] * m_data[2][2] - m_data[1][2] * m_data[2][0] )
           + m_data[0][2] * ( m_data[1][0] * m_data[2][1] - m_data[1][1] * m_data[2][0] );
}
 
 
template <class T, class S>
MATRIX3x3<T> const operator*( MATRIX3x3<T> const& aMatrix, S aScalar )
{
    MATRIX3x3<T> result;
 
    for( int i = 0; i < 3; i++ )
    {
        for( int j = 0; j < 3; j++ )
        {
            result.m_data[i][j] = aMatrix.m_data[i][j] * aScalar;
        }
    }
 
    return result;
}
 
 
template <class T, class S>
MATRIX3x3<T> const operator*( S aScalar, MATRIX3x3<T> const& aMatrix )
{
    return aMatrix * aScalar;
}
 
 
template <class T>
MATRIX3x3<T> MATRIX3x3<T>::Inverse() const
{
    MATRIX3x3<T> result;
 
    result.m_data[0][0] = m_data[1][1] * m_data[2][2] - m_data[2][1] * m_data[1][2];
    result.m_data[0][1] = m_data[0][2] * m_data[2][1] - m_data[2][2] * m_data[0][1];
    result.m_data[0][2] = m_data[0][1] * m_data[1][2] - m_data[1][1] * m_data[0][2];
 
    result.m_data[1][0] = m_data[1][2] * m_data[2][0] - m_data[2][2] * m_data[1][0];
    result.m_data[1][1] = m_data[0][0] * m_data[2][2] - m_data[2][0] * m_data[0][2];
    result.m_data[1][2] = m_data[0][2] * m_data[1][0] - m_data[1][2] * m_data[0][0];
 
    result.m_data[2][0] = m_data[1][0] * m_data[2][1] - m_data[2][0] * m_data[1][1];
    result.m_data[2][1] = m_data[0][1] * m_data[2][0] - m_data[2][1] * m_data[0][0];
    result.m_data[2][2] = m_data[0][0] * m_data[1][1] - m_data[1][0] * m_data[0][1];
 
    return result * ( 1.0 / Determinant() );
}
 
 
template <class T>
MATRIX3x3<T> MATRIX3x3<T>::Transpose() const
{
    MATRIX3x3<T> result;
 
    for( int i = 0; i < 3; i++ )
    {
        for( int j = 0; j < 3; j++ )
        {
            result.m_data[j][i] = m_data[i][j];
        }
    }
 
    return result;
}
 
 
template <class T>
std::ostream& operator<<( std::ostream& aStream, const MATRIX3x3<T>& aMatrix )
{
    for( int i = 0; i < 3; i++ )
    {
        aStream << "| ";
 
        for( int j = 0; j < 3; j++ )
        {
            aStream << aMatrix.m_data[i][j];
            aStream << " ";
        }
 
        aStream << "|";
        aStream << "\n";
    }
 
    return aStream;
}
 
 
template <class T>
bool MATRIX3x3<T>::operator==( MATRIX3x3<T> const& aOtherMatrix ) const
{
    return aOtherMatrix.m_data[0][0] == m_data[0][0] &&
        aOtherMatrix.m_data[0][1] == m_data[0][1] &&
        aOtherMatrix.m_data[0][2] == m_data[0][2] &&
        aOtherMatrix.m_data[1][0] == m_data[1][0] &&
        aOtherMatrix.m_data[1][1] == m_data[1][1] &&
        aOtherMatrix.m_data[1][2] == m_data[1][2] &&
        aOtherMatrix.m_data[2][0] == m_data[2][0] &&
        aOtherMatrix.m_data[2][1] == m_data[2][1] &&
        aOtherMatrix.m_data[2][2] == m_data[2][2];
}
 
 
template <class T>
bool MATRIX3x3<T>::operator!=( MATRIX3x3<T> const& aOtherMatrix ) const
{
    return aOtherMatrix.m_data[0][0] != m_data[0][0] ||
        aOtherMatrix.m_data[0][1] != m_data[0][1] ||
        aOtherMatrix.m_data[0][2] != m_data[0][2] ||
        aOtherMatrix.m_data[1][0] != m_data[1][0] ||
        aOtherMatrix.m_data[1][1] != m_data[1][1] ||
        aOtherMatrix.m_data[1][2] != m_data[1][2] ||
        aOtherMatrix.m_data[2][0] != m_data[2][0] ||
        aOtherMatrix.m_data[2][1] != m_data[2][1] ||
        aOtherMatrix.m_data[2][2] != m_data[2][2];
}
 
 
/* Default specializations */
typedef MATRIX3x3<double> MATRIX3x3D;
 
#endif /* MATRIX3X3_H_ */