#include <msp/linal/squarematrix.h>
#include "angle.h"
+#include "boundingbox.h"
+#include "ray.h"
namespace Msp {
namespace Geometry {
static AffineTransformation<T, D> scaling(const LinAl::Vector<T, D> &);
static AffineTransformation<T, D> shear(const LinAl::Vector<T, D> &, const LinAl::Vector<T, D> &);
+ AffineTransformation &operator*=(const AffineTransformation &);
+ AffineTransformation &invert();
+
const LinAl::SquareMatrix<T, D+1> &get_matrix() const { return matrix; }
operator const LinAl::SquareMatrix<T, D+1> &() const { return matrix; }
LinAl::Vector<T, D> transform(const LinAl::Vector<T, D> &) const;
LinAl::Vector<T, D> transform_linear(const LinAl::Vector<T, D> &) const;
+ Ray<T, D> transform(const Ray<T, D> &) const;
+ BoundingBox<T, D> transform(const BoundingBox<T, D> &) const;
};
template<typename T, unsigned D>
{
AffineTransformation<T, D> r;
for(unsigned i=0; i<D; ++i)
- r.matrix(D, i) = v[i];
+ r.matrix(i, D) = v[i];
return r;
}
return r;
}
-
-template<typename T, unsigned N>
-inline LinAl::Vector<T, N+1> augment_vector(const LinAl::Vector<T, N> &v, T s)
+template<typename T, unsigned D>
+inline AffineTransformation<T, D> &AffineTransformation<T, D>::operator*=(const AffineTransformation<T, D> &other)
{
- LinAl::Vector<T, N+1> r;
- for(unsigned i=0; i<N; ++i)
- r[i] = v[i];
- r[N] = s;
- return r;
+ matrix *= other.get_matrix();
+ return *this;
}
-template<typename T, unsigned N>
-inline LinAl::Vector<T, N-1> reduce_vector(const LinAl::Vector<T, N> &v)
+template<typename T, unsigned D>
+inline AffineTransformation<T, D> operator*(const AffineTransformation<T, D> &at1, const AffineTransformation<T, D> &at2)
{
- LinAl::Vector<T, N-1> r;
- for(unsigned i=0; i<N-1; ++i)
- r[i] = v[i];
- return r;
+ AffineTransformation<T, D> r = at1;
+ return r *= at2;
}
-template<typename T, unsigned N>
-inline LinAl::Vector<T, N-1> divide_vector(const LinAl::Vector<T, N> &v)
+template<typename T, unsigned D>
+inline AffineTransformation<T, D> &AffineTransformation<T, D>::invert()
{
- LinAl::Vector<T, N-1> r;
- for(unsigned i=0; i<N-1; ++i)
- r[i] = v[i]/v[N-1];
- return r;
+ matrix.invert();
+ return *this;
}
+template<typename T, unsigned D>
+inline AffineTransformation<T, D> invert(const AffineTransformation<T, D> &at)
+{
+ AffineTransformation<T, D> r = at;
+ return r.invert();
+}
template<typename T, unsigned D>
inline LinAl::Vector<T, D> AffineTransformation<T, D>::transform(const LinAl::Vector<T, D> &v) const
{
- return reduce_vector(matrix*augment_vector(v, T(1)));
+ return (matrix*compose(v, T(1))).template slice<D>(0);
}
template<typename T, unsigned D>
inline LinAl::Vector<T, D> AffineTransformation<T, D>::transform_linear(const LinAl::Vector<T, D> &v) const
{
- return reduce_vector(matrix*augment_vector(v, T(0)));
+ return (matrix*compose(v, T(0))).template slice<D>(0);
+}
+
+template<typename T, unsigned D>
+inline Ray<T, D> AffineTransformation<T, D>::transform(const Ray<T, D> &ray) const
+{
+ LinAl::Vector<T, D> dir = transform_linear(ray.get_direction());
+ return Ray<T, D>(transform(ray.get_start()), dir, ray.get_limit()*dir.norm());
+}
+
+template<typename T, unsigned D>
+inline BoundingBox<T, D> AffineTransformation<T, D>::transform(const BoundingBox<T, D> &bbox) const
+{
+ LinAl::Vector<T, D> min_pt;
+ LinAl::Vector<T, D> max_pt;
+ for(unsigned i=0; i<(1<<D); ++i)
+ {
+ LinAl::Vector<T, D> point;
+ for(unsigned j=0; j<D; ++j)
+ point[j] = ((i>>j)&1 ? bbox.get_maximum_coordinate(j) : bbox.get_minimum_coordinate(j));
+
+ point = transform(point);
+
+ if(i==0)
+ {
+ min_pt = point;
+ max_pt = point;
+ }
+ else
+ {
+ for(unsigned j=0; j<D; ++j)
+ {
+ min_pt[j] = std::min(min_pt[j], point[j]);
+ max_pt[j] = std::max(max_pt[j], point[j]);
+ }
+ }
+ }
+
+ return BoundingBox<T, D>(min_pt, max_pt);
}
} // namespace Geometry