138 lines
4.6 KiB
C++
138 lines
4.6 KiB
C++
/**
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* @file llmatrix3a.h
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* @brief LLMatrix3a class header file - memory aligned and vectorized 3x3 matrix
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*
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* $LicenseInfo:firstyear=2010&license=viewerlgpl$
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* Second Life Viewer Source Code
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* Copyright (C) 2010, Linden Research, Inc.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation;
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* version 2.1 of the License only.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
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* $/LicenseInfo$
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*/
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#ifndef LL_LLMATRIX3A_H
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#define LL_LLMATRIX3A_H
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/////////////////////////////
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// LLMatrix3a, LLRotation
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/////////////////////////////
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// This class stores a 3x3 (technically 4x3) matrix in column-major order
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/////////////////////////////
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/////////////////////////////
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// These classes are intentionally minimal right now. If you need additional
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// functionality, please contact someone with SSE experience (e.g., Falcon or
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// Huseby).
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/////////////////////////////
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// LLMatrix3a is the base class for LLRotation, which should be used instead any time you're dealing with a
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// rotation matrix.
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LL_ALIGN_PREFIX(16)
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class LLMatrix3a
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{
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public:
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// Utility function for quickly transforming an array of LLVector4a's
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// For transforming a single LLVector4a, see LLVector4a::setRotated
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static void batchTransform( const LLMatrix3a& xform, const LLVector4a* src, int numVectors, LLVector4a* dst );
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// Utility function to obtain the identity matrix
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static inline const LLMatrix3a& getIdentity();
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//////////////////////////
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// Ctors
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//////////////////////////
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// Ctor
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LLMatrix3a() = default;
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// Ctor for setting by columns
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inline LLMatrix3a( const LLVector4a& c0, const LLVector4a& c1, const LLVector4a& c2 );
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//////////////////////////
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// Get/Set
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//////////////////////////
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// Loads from an LLMatrix3
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inline void loadu(const LLMatrix3& src);
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// Set rows
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inline void setRows(const LLVector4a& r0, const LLVector4a& r1, const LLVector4a& r2);
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// Set columns
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inline void setColumns(const LLVector4a& c0, const LLVector4a& c1, const LLVector4a& c2);
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// Get the read-only access to a specified column. Valid columns are 0-2, but the
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// function is unchecked. You've been warned.
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inline const LLVector4a& getColumn(const U32 column) const;
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/////////////////////////
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// Matrix modification
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/////////////////////////
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// Set this matrix to the product of lhs and rhs ( this = lhs * rhs )
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void setMul( const LLMatrix3a& lhs, const LLMatrix3a& rhs );
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// Set this matrix to the transpose of src
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inline void setTranspose(const LLMatrix3a& src);
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// Set this matrix to a*w + b*(1-w)
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inline void setLerp(const LLMatrix3a& a, const LLMatrix3a& b, F32 w);
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/////////////////////////
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// Matrix inspection
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/////////////////////////
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// Sets all 4 elements in 'dest' to the determinant of this matrix.
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// If you will be using the determinant in subsequent ops with LLVector4a, use this version
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inline void getDeterminant( LLVector4a& dest ) const;
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// Returns the determinant as an LLSimdScalar. Use this if you will be using the determinant
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// primary for scalar operations.
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inline LLSimdScalar getDeterminant() const;
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// Returns nonzero if rows 0-2 and colums 0-2 contain no NaN or INF values. Row 3 is ignored
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inline LLBool32 isFinite() const;
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// Returns true if this matrix is equal to 'rhs' up to 'tolerance'
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inline bool isApproximatelyEqual( const LLMatrix3a& rhs, F32 tolerance = F_APPROXIMATELY_ZERO ) const;
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protected:
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LL_ALIGN_16(LLVector4a mColumns[3]);
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} LL_ALIGN_POSTFIX(16);
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LL_ALIGN_PREFIX(16)
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class LLRotation : public LLMatrix3a
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{
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public:
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LLRotation() = default;
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// Returns true if this rotation is orthonormal with det ~= 1
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inline bool isOkRotation() const;
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} LL_ALIGN_POSTFIX(16);
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#if !defined(LL_DEBUG)
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static_assert(std::is_trivial<LLMatrix3a>::value, "LLMatrix3a must be a trivial type");
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static_assert(std::is_standard_layout<LLMatrix3a>::value, "LLMatrix3a must be a standard layout type");
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static_assert(std::is_trivial<LLRotation>::value, "LLRotation must be a trivial type");
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static_assert(std::is_standard_layout<LLRotation>::value, "LLRotation must be a standard layout type");
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#endif
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#endif
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