X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Fgeometry%2Faffinetransformation.h;h=f01ac3addbf0b6d5fb2b503f448f5ff47f493371;hb=d12977f0eea8aec74e25402dce05d768556ffaef;hp=e0ca370d66aa74b918f307497a065cc3deea396c;hpb=6ff13022b53830d35283905d562c2ef3af198cc1;p=libs%2Fmath.git

diff --git a/source/geometry/affinetransformation.h b/source/geometry/affinetransformation.h
index e0ca370..f01ac3a 100644
--- a/source/geometry/affinetransformation.h
+++ b/source/geometry/affinetransformation.h
@@ -3,6 +3,8 @@
 
 #include <msp/linal/squarematrix.h>
 #include "angle.h"
+#include "boundingbox.h"
+#include "ray.h"
 
 namespace Msp {
 namespace Geometry {
@@ -62,11 +64,16 @@ public:
 	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>
@@ -81,7 +88,7 @@ AffineTransformation<T, D> AffineTransformation<T, D>::translation(const LinAl::
 {
 	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;
 }
 
@@ -137,46 +144,82 @@ AffineTransformation<T, 3> AffineTransformationOps<T, 3>::rotation(const Angle<T
 	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