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00007 #ifndef _MATRIX4_H
00008 #define _MATRIX4_H
00009
00010 #include <boost/shared_ptr.hpp>
00011 #include <Inventor/SbLinear.h>
00012 #include <Physsim/Vector3.h>
00013 #include <Physsim/MatrixNN.h>
00014
00015 namespace Physsim {
00016
00017 class Quat;
00018 class AAngle;
00019 class Matrix3;
00020
00022
00028 class Matrix4 : public MatrixNN
00029 {
00030 public:
00031 Matrix4();
00032 Matrix4(const Matrix4& source);
00033 Matrix4(const MatrixNN& source);
00034 Matrix4(const MatrixN& source);
00035 Matrix4(const boost::shared_array<Real> array);
00036 Matrix4(const AAngle* a);
00037 Matrix4(const Matrix3* m);
00038 Matrix4(const Quat* q);
00039 Matrix4(const AAngle* a, const Vector3* v);
00040 Matrix4(const Matrix3* m, const Vector3* v);
00041 Matrix4(const Quat* q, const Vector3* v);
00042 Matrix4(const Vector3* v);
00043 Matrix4(Real m00, Real m01, Real m02, Real m03, Real m10, Real m11, Real m12, Real m13, Real m20, Real m21, Real m22, Real m23, Real m30, Real m31, Real m32, Real m33);
00044 bool epsilon_equals(const Matrix4& m, Real epsilon) const;
00045 static bool epsilon_equals(const Matrix4& m1, const Matrix4& m2, Real epsilon);
00046 static Matrix4 interpolate(const Matrix4& m1, const Matrix4& m2, Real t);
00047 Matrix3 get_rotation() const;
00048 void get_rotation(Matrix3* m) const;
00049 Vector3 get_translation() const;
00050 static void to_inventor_matrix(const Matrix4& src, SbMatrix& tgt);
00051 static void from_inventor_matrix(const SbMatrix& src, Matrix4& tgt);
00052 void invert_transform();
00053 static Matrix4 invert_transform(const Matrix4& m);
00054 void get_translation(boost::shared_array<Real> array) const;
00055 void get_translation(Vector3& v) const;
00056 void get_translation(Real& x, Real& y, Real& z) const;
00057 void set(boost::shared_array<const Real> array);
00058 void set(const AAngle* a, const Vector3* v);
00059 void set(const Matrix3* m, const Vector3* v);
00060 void set(const Quat* q, const Vector3* v);
00061 void set_rotation(const AAngle* a);
00062 void set_rotation(const Quat* q);
00063 void set_rotation(const Matrix3* m);
00064 void set_translation(Real x, Real y, Real z);
00065 void set_translation(boost::shared_array<Real> array);
00066 void set_translation(const Vector3& v);
00067 void operator=(const Matrix4& source) { MatrixN::operator=(source); }
00068 virtual void operator=(const MatrixN& source) { assert(source.rows() == 4 && source.columns() == 4); MatrixN::operator=(source); }
00069 virtual void operator=(const MatrixNN& source) { assert(source.rows() == 4); MatrixN::operator=(source); }
00070 Matrix4 operator*(const Matrix4& m) const { return MatrixN::operator*(m); }
00071 Matrix4 operator*(Real scalar) const { return MatrixN::operator*(scalar); }
00072 Matrix4 operator/(Real scalar) const { return (MatrixN::operator/(scalar)); }
00073 Vector3 operator*(const Vector3& v) const;
00074 static bool valid_transform(const Matrix4& m);
00075 };
00076 }
00077
00078 #endif
00079
