--- /dev/null
+// Copyright (c) 2020 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _NCollection_Mat3_HeaderFile
+#define _NCollection_Mat3_HeaderFile
+
+#include <NCollection_Vec3.hxx>
+#include <Standard_ConstructionError.hxx>
+
+//! 3x3 Matrix class.
+//! Warning, empty constructor returns an identity matrix.
+template<typename Element_t>
+class NCollection_Mat3
+{
+public:
+
+ //! Return identity matrix.
+ static NCollection_Mat3 Identity()
+ {
+ return NCollection_Mat3();
+ }
+
+ //! Return zero matrix.
+ static NCollection_Mat3 Zero()
+ {
+ NCollection_Mat3 aMat; aMat.InitZero();
+ return aMat;
+ }
+
+public:
+
+ //! Empty constructor for identity matrix.
+ NCollection_Mat3()
+ {
+ InitIdentity();
+ }
+
+ //! Conversion constructor (explicitly converts some 3x3 matrix with other element type
+ //! to a new 3x3 matrix with the element type Element_t,
+ //! whose elements are static_cast'ed corresponding elements of theOtherMat3 matrix)
+ //! @tparam OtherElement_t the element type of the other 3x3 matrix theOtherVec3
+ //! @param theOtherMat3 the 3x3 matrix that needs to be converted
+ template <typename OtherElement_t>
+ explicit NCollection_Mat3 (const NCollection_Mat3<OtherElement_t>& theOtherMat3)
+ {
+ ConvertFrom (theOtherMat3);
+ }
+
+ //! Get element at the specified row and column.
+ //! @param theRow [in] the row.to address.
+ //! @param theCol [in] the column to address.
+ //! @return the value of the addressed element.
+ Element_t GetValue (const size_t theRow, const size_t theCol) const
+ {
+ return myMat[theCol * 3 + theRow];
+ }
+
+ //! Access element at the specified row and column.
+ //! @param theRow [in] the row.to access.
+ //! @param theCol [in] the column to access.
+ //! @return reference on the matrix element.
+ Element_t& ChangeValue (const size_t theRow, const size_t theCol)
+ {
+ return myMat[theCol * 3 + theRow];
+ }
+
+ //! Set value for the element specified by row and columns.
+ //! @param theRow [in] the row to change.
+ //! @param theCol [in] the column to change.
+ //! @param theValue [in] the value to set.s
+ void SetValue (const size_t theRow,
+ const size_t theCol,
+ const Element_t theValue)
+ {
+ myMat[theCol * 3 + theRow] = theValue;
+ }
+
+ //! Return value.
+ Element_t& operator()(const size_t theRow, const size_t theCol) { return ChangeValue (theRow, theCol); }
+
+ //! Return value.
+ Element_t operator()(const size_t theRow, const size_t theCol) const { return GetValue (theRow, theCol); }
+
+ //! Return the row.
+ NCollection_Vec3<Element_t> GetRow (const size_t theRow) const
+ {
+ return NCollection_Vec3<Element_t> (GetValue (theRow, 0), GetValue (theRow, 1), GetValue (theRow, 2));
+ }
+
+ //! Change first 3 row values by the passed vector.
+ //! @param theRow [in] the row to change.
+ //! @param theVec [in] the vector of values.
+ void SetRow (const size_t theRow, const NCollection_Vec3<Element_t>& theVec)
+ {
+ SetValue (theRow, 0, theVec.x());
+ SetValue (theRow, 1, theVec.y());
+ SetValue (theRow, 2, theVec.z());
+ }
+
+ //! Return the column.
+ NCollection_Vec3<Element_t> GetColumn (const size_t theCol) const
+ {
+ return NCollection_Vec3<Element_t> (GetValue (0, theCol), GetValue (1, theCol), GetValue (2, theCol));
+ }
+
+ //! Change first 3 column values by the passed vector.
+ //! @param theCol [in] the column to change.
+ //! @param theVec [in] the vector of values.
+ void SetColumn (const size_t theCol,
+ const NCollection_Vec3<Element_t>& theVec)
+ {
+ SetValue (0, theCol, theVec.x());
+ SetValue (1, theCol, theVec.y());
+ SetValue (2, theCol, theVec.z());
+ }
+
+ //! Get vector of diagonal elements.
+ //! @return vector of diagonal elements.
+ NCollection_Vec3<Element_t> GetDiagonal() const
+ {
+ return NCollection_Vec3<Element_t> (GetValue (0, 0), GetValue (1, 1), GetValue (2, 2));
+ }
+
+ //! Change first 3 elements of the diagonal matrix.
+ //! @param theVec the vector of values.
+ void SetDiagonal (const NCollection_Vec3<Element_t>& theVec)
+ {
+ SetValue (0, 0, theVec.x());
+ SetValue (1, 1, theVec.y());
+ SetValue (2, 2, theVec.z());
+ }
+
+ //! Initialize the zero matrix.
+ void InitZero()
+ {
+ std::memcpy (this, MyZeroArray, sizeof (NCollection_Mat3));
+ }
+
+ //! Checks the matrix for zero (without tolerance).
+ bool IsZero() const
+ {
+ return std::memcmp (this, MyZeroArray, sizeof (NCollection_Mat3)) == 0;
+ }
+
+ //! Initialize the identity matrix.
+ void InitIdentity()
+ {
+ std::memcpy (this, MyIdentityArray, sizeof (NCollection_Mat3));
+ }
+
+ //! Checks the matrix for identity (without tolerance).
+ bool IsIdentity() const
+ {
+ return std::memcmp (this, MyIdentityArray, sizeof (NCollection_Mat3)) == 0;
+ }
+
+ //! Check this matrix for equality with another matrix (without tolerance!).
+ bool IsEqual (const NCollection_Mat3& theOther) const
+ {
+ return std::memcmp (this, &theOther, sizeof(NCollection_Mat3)) == 0;
+ }
+
+ //! Comparison operator.
+ bool operator== (const NCollection_Mat3& theMat) const { return IsEqual (theMat); }
+
+ //! Check this vector with another vector for non-equality (without tolerance!).
+ bool operator!= (const NCollection_Mat3& theOther) const { return !IsEqual (theOther); }
+
+ //! Raw access to the data (for OpenGL exchange).
+ //! the data is returned in column-major order.
+ const Element_t* GetData() const { return myMat; }
+ Element_t* ChangeData() { return myMat; }
+
+ //! Multiply by the vector (M * V).
+ //! @param theVec [in] the vector to multiply.
+ NCollection_Vec3<Element_t> operator* (const NCollection_Vec3<Element_t>& theVec) const
+ {
+ return NCollection_Vec3<Element_t> (
+ GetValue (0, 0) * theVec.x() + GetValue (0, 1) * theVec.y() + GetValue (0, 2) * theVec.z(),
+ GetValue (1, 0) * theVec.x() + GetValue (1, 1) * theVec.y() + GetValue (1, 2) * theVec.z(),
+ GetValue (2, 0) * theVec.x() + GetValue (2, 1) * theVec.y() + GetValue (2, 2) * theVec.z());
+ }
+
+ //! Compute matrix multiplication product: A * B.
+ //! @param theMatA [in] the matrix "A".
+ //! @param theMatB [in] the matrix "B".
+ static NCollection_Mat3 Multiply (const NCollection_Mat3& theMatA,
+ const NCollection_Mat3& theMatB)
+ {
+ NCollection_Mat3 aMatRes;
+
+ size_t aInputElem;
+ for (size_t aResElem = 0; aResElem < 9; ++aResElem)
+ {
+ aMatRes.myMat[aResElem] = (Element_t )0;
+ for (aInputElem = 0; aInputElem < 3; ++aInputElem)
+ {
+ aMatRes.myMat[aResElem] += theMatA.GetValue(aResElem % 3, aInputElem)
+ * theMatB.GetValue(aInputElem, aResElem / 3);
+ }
+ }
+
+ return aMatRes;
+ }
+
+ //! Compute matrix multiplication.
+ //! @param theMat [in] the matrix to multiply.
+ void Multiply (const NCollection_Mat3& theMat)
+ {
+ *this = Multiply(*this, theMat);
+ }
+
+ //! Multiply by the another matrix.
+ //! @param theMat [in] the other matrix.
+ NCollection_Mat3& operator*= (const NCollection_Mat3& theMat)
+ {
+ Multiply (theMat);
+ return *this;
+ }
+
+ //! Compute matrix multiplication product.
+ //! @param theMat [in] the other matrix.
+ //! @return result of multiplication.
+ Standard_NODISCARD NCollection_Mat3 operator* (const NCollection_Mat3& theMat) const
+ {
+ return Multiplied (theMat);
+ }
+
+ //! Compute matrix multiplication product.
+ //! @param theMat [in] the other matrix.
+ //! @return result of multiplication.
+ Standard_NODISCARD NCollection_Mat3 Multiplied (const NCollection_Mat3& theMat) const
+ {
+ NCollection_Mat3 aTempMat (*this);
+ aTempMat *= theMat;
+ return aTempMat;
+ }
+
+ //! Compute per-component multiplication.
+ //! @param theFactor [in] the scale factor.
+ void Multiply (const Element_t theFactor)
+ {
+ for (size_t i = 0; i < 9; ++i)
+ {
+ myMat[i] *= theFactor;
+ }
+ }
+
+ //! Compute per-element multiplication.
+ //! @param theFactor [in] the scale factor.
+ NCollection_Mat3& operator*= (const Element_t theFactor)
+ {
+ Multiply (theFactor);
+ return *this;
+ }
+
+ //! Compute per-element multiplication.
+ //! @param theFactor [in] the scale factor.
+ //! @return the result of multiplication.
+ Standard_NODISCARD NCollection_Mat3 operator* (const Element_t theFactor) const
+ {
+ return Multiplied (theFactor);
+ }
+
+ //! Compute per-element multiplication.
+ //! @param theFactor [in] the scale factor.
+ //! @return the result of multiplication.
+ Standard_NODISCARD NCollection_Mat3 Multiplied (const Element_t theFactor) const
+ {
+ NCollection_Mat3 aTempMat (*this);
+ aTempMat *= theFactor;
+ return aTempMat;
+ }
+
+ //! Compute per-component division.
+ //! @param theFactor [in] the scale factor.
+ void Divide (const Element_t theFactor)
+ {
+ for (size_t i = 0; i < 9; ++i)
+ {
+ myMat[i] /= theFactor;
+ }
+ }
+
+ //! Per-component division.
+ //! @param theScalar [in] the scale factor.
+ NCollection_Mat3& operator/= (const Element_t theScalar)
+ {
+ Divide (theScalar);
+ return *this;
+ }
+
+ //! Divides all the coefficients of the matrix by scalar.
+ Standard_NODISCARD NCollection_Mat3 Divided (const Element_t theScalar) const
+ {
+ NCollection_Mat3 aTempMat (*this);
+ aTempMat /= theScalar;
+ return aTempMat;
+ }
+
+ //! Divides all the coefficients of the matrix by scalar.
+ Standard_NODISCARD NCollection_Mat3 operator/ (const Element_t theScalar) const
+ {
+ return Divided (theScalar);
+ }
+
+ //! Per-component addition of another matrix.
+ void Add (const NCollection_Mat3& theMat)
+ {
+ for (size_t i = 0; i < 9; ++i)
+ {
+ myMat[i] += theMat.myMat[i];
+ }
+ }
+
+ //! Per-component addition of another matrix.
+ NCollection_Mat3& operator+= (const NCollection_Mat3& theMat)
+ {
+ Add (theMat);
+ return *this;
+ }
+
+ //! Per-component subtraction of another matrix.
+ void Subtract (const NCollection_Mat3& theMat)
+ {
+ for (size_t i = 0; i < 9; ++i)
+ {
+ myMat[i] -= theMat.myMat[i];
+ }
+ }
+
+ //! Per-component subtraction of another matrix.
+ NCollection_Mat3& operator-= (const NCollection_Mat3& theMat)
+ {
+ Subtract (theMat);
+ return *this;
+ }
+
+ //! Per-component addition of another matrix.
+ Standard_NODISCARD NCollection_Mat3 Added (const NCollection_Mat3& theMat) const
+ {
+ NCollection_Mat3 aMat (*this);
+ aMat += theMat;
+ return aMat;
+ }
+
+ //! Per-component addition of another matrix.
+ Standard_NODISCARD NCollection_Mat3 operator+ (const NCollection_Mat3& theMat) const
+ {
+ return Added (theMat);
+ }
+
+ //! Per-component subtraction of another matrix.
+ Standard_NODISCARD NCollection_Mat3 Subtracted (const NCollection_Mat3& theMat) const
+ {
+ NCollection_Mat3 aMat (*this);
+ aMat -= theMat;
+ return aMat;
+ }
+
+ //! Per-component subtraction of another matrix.
+ Standard_NODISCARD NCollection_Mat3 operator- (const NCollection_Mat3& theMat) const
+ {
+ return Subtracted (theMat);
+ }
+
+ //! Returns matrix with all components negated.
+ Standard_NODISCARD NCollection_Mat3 Negated() const
+ {
+ NCollection_Mat3 aMat;
+ for (size_t i = 0; i < 9; ++i)
+ {
+ aMat.myMat[i] = -myMat[i];
+ }
+ return aMat;
+ }
+
+ //! Returns matrix with all components negated.
+ Standard_NODISCARD NCollection_Mat3 operator-() const
+ {
+ return Negated();
+ }
+
+ //! Transpose the matrix.
+ //! @return transposed copy of the matrix.
+ Standard_NODISCARD NCollection_Mat3 Transposed() const
+ {
+ NCollection_Mat3 aTempMat;
+ aTempMat.SetRow (0, GetColumn (0));
+ aTempMat.SetRow (1, GetColumn (1));
+ aTempMat.SetRow (2, GetColumn (2));
+ return aTempMat;
+ }
+
+ //! Transpose the matrix.
+ void Transpose()
+ {
+ *this = Transposed();
+ }
+
+ //! Return adjoint (adjugate matrix, e.g. conjugate transpose).
+ Standard_NODISCARD NCollection_Mat3 Adjoint() const
+ {
+ NCollection_Mat3 aMat;
+ aMat.SetRow (0, NCollection_Vec3<Element_t>::Cross (GetRow(1), GetRow(2)));
+ aMat.SetRow (1, NCollection_Vec3<Element_t>::Cross (GetRow(2), GetRow(0)));
+ aMat.SetRow (2, NCollection_Vec3<Element_t>::Cross (GetRow(0), GetRow(1)));
+ return aMat;
+ }
+
+ //! Compute inverted matrix.
+ //! @param theOutMx [out] the inverted matrix
+ //! @param theDet [out] determinant of matrix
+ //! @return true if reversion success
+ bool Inverted (NCollection_Mat3& theInv, Element_t& theDet) const
+ {
+ const NCollection_Mat3 aMat = Adjoint();
+ theDet = aMat.GetRow(0).Dot (GetRow(0));
+ if (theDet == Element_t(0))
+ {
+ return false;
+ }
+
+ theInv = aMat.Transposed() / theDet;
+ return true;
+ }
+
+ //! Compute inverted matrix.
+ //! @param theOutMx [out] the inverted matrix
+ //! @return true if reversion success
+ bool Inverted (NCollection_Mat3& theInv) const
+ {
+ Element_t aDet;
+ return Inverted (theInv, aDet);
+ }
+
+ //! Return inverted matrix.
+ NCollection_Mat3 Inverted() const
+ {
+ NCollection_Mat3 anInv;
+ if (!Inverted (anInv))
+ {
+ throw Standard_ConstructionError ("NCollection_Mat3::Inverted() - matrix has zero determinant");
+ }
+ return anInv;
+ }
+
+ //! Take values from NCollection_Mat3 with a different element type with type conversion.
+ template <typename Other_t>
+ void ConvertFrom (const NCollection_Mat3<Other_t>& theFrom)
+ {
+ for (int anIdx = 0; anIdx < 9; ++anIdx)
+ {
+ myMat[anIdx] = static_cast<Element_t> (theFrom.myMat[anIdx]);
+ }
+ }
+
+ //! Maps plain C array to matrix type.
+ static NCollection_Mat3<Element_t>& Map (Element_t* theData)
+ {
+ return *reinterpret_cast<NCollection_Mat3<Element_t>*> (theData);
+ }
+
+ //! Maps plain C array to matrix type.
+ static const NCollection_Mat3<Element_t>& Map (const Element_t* theData)
+ {
+ return *reinterpret_cast<const NCollection_Mat3<Element_t>*> (theData);
+ }
+
+ //! Dumps the content of me into the stream
+ void DumpJson (Standard_OStream& theOStream, Standard_Integer) const
+ {
+ OCCT_DUMP_FIELD_VALUES_NUMERICAL (theOStream, "NCollection_Mat3", 9,
+ GetValue (0, 0), GetValue (0, 1), GetValue (0, 2),
+ GetValue (1, 0), GetValue (1, 1), GetValue (1, 2),
+ GetValue (2, 0), GetValue (2, 1), GetValue (2, 2))
+ }
+
+private:
+
+ Element_t myMat[9];
+
+private:
+
+ static const Element_t MyZeroArray[9];
+ static const Element_t MyIdentityArray[9];
+
+ // All instantiations are friend to each other
+ template<class OtherType> friend class NCollection_Mat3;
+};
+
+template<typename Element_t>
+const Element_t NCollection_Mat3<Element_t>::MyZeroArray[] =
+ {0, 0, 0,
+ 0, 0, 0,
+ 0, 0, 0};
+
+template<typename Element_t>
+const Element_t NCollection_Mat3<Element_t>::MyIdentityArray[] =
+ {1, 0, 0,
+ 0, 1, 0,
+ 0, 0, 1};
+
+#if defined(_MSC_VER) && (_MSC_VER >= 1900)
+ #include <type_traits>
+
+ static_assert(std::is_trivially_copyable<NCollection_Mat3<float>>::value, "NCollection_Mat3 is not is_trivially_copyable() structure!");
+ static_assert(std::is_standard_layout <NCollection_Mat3<float>>::value, "NCollection_Mat3 is not is_standard_layout() structure!");
+ static_assert(sizeof(NCollection_Mat3<float>) == sizeof(float)*9, "NCollection_Mat3 is not packed/aligned!");
+#endif
+
+#endif // _NCollection_Mat3_HeaderFile
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