Remove SquareMatrix and instead use static_assert to check squareness

[libs/math.git] / source / geometry / affinetransformation.h

diff --git a/source/geometry/affinetransformation.h b/source/geometry/affinetransformation.h
index 93fb91abf29f9955ffc83cf9307092a4ff78c2cb..e311b885f2111a4d777d7a5c775a780cbc9468a3 100644 (file)
--- a/source/geometry/affinetransformation.h
+++ b/source/geometry/affinetransformation.h
@@ -1,8 +1,10 @@
 #ifndef MSP_GEOMETRY_AFFINETRANSFORMATION_H_
 #define MSP_GEOMETRY_AFFINETRANSFORMATION_H_
 
-#include <msp/linal/squarematrix.h>
+#include <msp/linal/matrix.h>
 #include "angle.h"
+#include "boundingbox.h"
+#include "ray.h"
 
 namespace Msp {
 namespace Geometry {
@@ -53,7 +55,7 @@ class AffineTransformation: public AffineTransformationOps<T, D>
        friend class AffineTransformationOps<T, D>;
 
 private:
-       LinAl::SquareMatrix<T, D+1> matrix;
+       LinAl::Matrix<T, D+1, D+1> matrix;
 
 public:
        AffineTransformation();
@@ -62,17 +64,22 @@ 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> &);
 
-       const LinAl::SquareMatrix<T, D+1> &get_matrix() const { return matrix; }
-       operator const LinAl::SquareMatrix<T, D+1> &() const { return matrix; }
+       AffineTransformation &operator*=(const AffineTransformation &);
+       AffineTransformation &invert();
+
+       const LinAl::Matrix<T, D+1, D+1> &get_matrix() const { return matrix; }
+       operator const LinAl::Matrix<T, D+1, 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>
 inline AffineTransformation<T, D>::AffineTransformation()
 {
-       this->matrix = LinAl::SquareMatrix<T, D+1>::identity();
+       this->matrix = LinAl::Matrix<T, D+1, D+1>::identity();
 }
 
 
@@ -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