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160 lines
3.7 KiB
160 lines
3.7 KiB
#ifndef MICROBIT_MATRIX4_H
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#define MICROBIT_MATRIX4_H
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/**
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* Class definition for a simple matrix, that is optimised for nx4 or 4xn matrices.
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*
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* This class is heavily optimised for these commonly used matrices as used in 3D geometry.
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* Whilst this class does support basic operations on matrices of any dimension, it is not intended as a
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* general purpose matrix class as inversion operations are only provided for 4x4 matrices.
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* For programmers needing more flexible Matrix support, the Matrix and MatrixMath classes from
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* Ernsesto Palacios provide a good basis:
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*
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* https://developer.mbed.org/cookbook/MatrixClass
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* https://developer.mbed.org/users/Yo_Robot/code/MatrixMath/
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*/
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class Matrix4
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{
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float *data; // Linear buffer representing the matrix.
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int rows; // The number of rows in the matrix.
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int cols; // The number of columns in the matrix.
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public:
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/**
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* Constructor.
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* Create a matrix of the given size.
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* @param rows the number of rows in the matrix to be created.
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* @param cols the number of columns in the matrix to be created.
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*
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* Example:
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* @code
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* Matrix4(10, 4); // Creates a Matrix with 10 rows and 4 columns.
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* @endcode
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*/
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Matrix4(int rows, int cols);
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/**
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* Constructor.
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* Create a matrix that is an identical copy of the given matrix.
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* @param matrix The matrix to copy.
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*
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* Example:
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* @code
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*
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* Matrix newMatrix(matrix); .
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* @endcode
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*/
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Matrix4(const Matrix4 &matrix);
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/**
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* Determines the number of columns in this matrix.
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*
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* @return The number of columns in the matrix.
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*
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* Example:
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* @code
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* int c = matrix.width();
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* @endcode
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*/
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int width();
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/**
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* Determines the number of rows in this matrix.
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*
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* @return The number of rows in the matrix.
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*
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* Example:
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* @code
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* int r = matrix.height();
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* @endcode
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*/
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int height();
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/**
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* Reads the matrix element at the given position.
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*
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* @param row The row of the element to read
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* @param col The column of the element to read
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* @return The value of the matrix element at the given position. NAN is returned if the given index is out of range.
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*
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* Example:
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* @code
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* float v = matrix.get(1,2);
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* @endcode
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*/
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float get(int row, int col);
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/**
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* Writes the matrix element at the given position.
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*
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* @param row The row of the element to write
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* @param col The column of the element to write
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* @param v The new value of the element
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*
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* Example:
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* @code
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* matrix.set(1,2,42.0);
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* @endcode
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*/
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void set(int row, int col, float v);
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/**
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* Transposes this matrix.
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* @return the resultant matrix.
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*
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* Example:
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* @code
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* matrix.transpose();
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* @endcode
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*/
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Matrix4 transpose();
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/**
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* Multiplies this matrix with the given matrix (if possible).
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* Example:
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* @code
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* Matrix result = matrixA.multiply(matrixB);
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* @endcode
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*/
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Matrix4 multiply(Matrix4 &matrix, bool transpose = false);
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/**
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* Multiplies the transpose of this matrix with the given matrix (if possible).
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* Example:
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* @code
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* Matrix result = matrixA.multiplyT(matrixB);
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* @endcode
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*/
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Matrix4 multiplyT(Matrix4 &matrix);
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/**
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* Performs an optimisaed inversion of a 4x4 matrix.
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* Only 4x4 matrics are supported by this operation.
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*
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* Example:
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* @code
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* Matrix result = matrixA.invert();
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* @endcode
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*/
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Matrix4 invert();
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/**
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* Destructor.
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*/
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~Matrix4();
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};
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inline Matrix4 Matrix4::multiplyT(Matrix4 &matrix)
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{
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return multiply(matrix, true);
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}
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#endif
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