11 #ifndef PXR_BASE_GF_MATRIX4D_H
12 #define PXR_BASE_GF_MATRIX4D_H
84 GfMatrix4d(
double m00,
double m01,
double m02,
double m03,
85 double m10,
double m11,
double m12,
double m13,
86 double m20,
double m21,
double m22,
double m23,
87 double m30,
double m31,
double m32,
double m33) {
88 Set(m00, m01, m02, m03,
119 explicit GfMatrix4d(
const std::vector< std::vector<double> >&
v);
128 explicit GfMatrix4d(
const std::vector< std::vector<float> >&
v);
137 explicit GfMatrix4d(
const std::vector<double>& r0,
138 const std::vector<double>& r1,
139 const std::vector<double>& r2,
140 const std::vector<double>& r3);
149 explicit GfMatrix4d(
const std::vector<float>& r0,
150 const std::vector<float>& r1,
151 const std::vector<float>& r2,
152 const std::vector<float>& r3);
187 return GfVec4d(_mtx[i][0], _mtx[i][1], _mtx[i][2], _mtx[i][3]);
192 return GfVec4d(_mtx[0][i], _mtx[1][i], _mtx[2][i], _mtx[3][i]);
199 double m10,
double m11,
double m12,
double m13,
200 double m20,
double m21,
double m22,
double m23,
201 double m30,
double m31,
double m32,
double m33) {
202 _mtx[0][0] = m00; _mtx[0][1] = m01; _mtx[0][2] = m02; _mtx[0][3] = m03;
203 _mtx[1][0] = m10; _mtx[1][1] = m11; _mtx[1][2] = m12; _mtx[1][3] = m13;
204 _mtx[2][0] = m20; _mtx[2][1] = m21; _mtx[2][2] = m22; _mtx[2][3] = m23;
205 _mtx[3][0] = m30; _mtx[3][1] = m31; _mtx[3][2] = m32; _mtx[3][3] = m33;
212 _mtx[0][0] = m[0][0];
213 _mtx[0][1] = m[0][1];
214 _mtx[0][2] = m[0][2];
215 _mtx[0][3] = m[0][3];
216 _mtx[1][0] = m[1][0];
217 _mtx[1][1] = m[1][1];
218 _mtx[1][2] = m[1][2];
219 _mtx[1][3] = m[1][3];
220 _mtx[2][0] = m[2][0];
221 _mtx[2][1] = m[2][1];
222 _mtx[2][2] = m[2][2];
223 _mtx[2][3] = m[2][3];
224 _mtx[3][0] = m[3][0];
225 _mtx[3][1] = m[3][1];
226 _mtx[3][2] = m[3][2];
227 _mtx[3][3] = m[3][3];
252 double*
Get(
double m[4][4])
const;
321 return !(*
this == m);
327 return !(*
this == m);
356 return GfVec3d(_mtx[i][0], _mtx[i][1], _mtx[i][2]);
363 return _GetDeterminant3(0, 1, 2, 0, 1, 2);
477 return GfVec4d(vec[0] * m._mtx[0][0] + vec[1] * m._mtx[0][1] + vec[2] * m._mtx[0][2] + vec[3] * m._mtx[0][3],
478 vec[0] * m._mtx[1][0] + vec[1] * m._mtx[1][1] + vec[2] * m._mtx[1][2] + vec[3] * m._mtx[1][3],
479 vec[0] * m._mtx[2][0] + vec[1] * m._mtx[2][1] + vec[2] * m._mtx[2][2] + vec[3] * m._mtx[2][3],
480 vec[0] * m._mtx[3][0] + vec[1] * m._mtx[3][1] + vec[2] * m._mtx[3][2] + vec[3] * m._mtx[3][3]);
485 return GfVec4d(vec[0] * m._mtx[0][0] + vec[1] * m._mtx[1][0] + vec[2] * m._mtx[2][0] + vec[3] * m._mtx[3][0],
486 vec[0] * m._mtx[0][1] + vec[1] * m._mtx[1][1] + vec[2] * m._mtx[2][1] + vec[3] * m._mtx[3][1],
487 vec[0] * m._mtx[0][2] + vec[1] * m._mtx[1][2] + vec[2] * m._mtx[2][2] + vec[3] * m._mtx[3][2],
488 vec[0] * m._mtx[0][3] + vec[1] * m._mtx[1][3] + vec[2] * m._mtx[2][3] + vec[3] * m._mtx[3][3]);
597 double eps = 1e-10)
const;
602 return GfVec3d(_mtx[3][0], _mtx[3][1], _mtx[3][2]);
644 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0] + _mtx[3][0],
645 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1] + _mtx[3][1],
646 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2] + _mtx[3][2],
647 vec[0] * _mtx[0][3] + vec[1] * _mtx[1][3] + vec[2] * _mtx[2][3] + _mtx[3][3]));
656 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0],
657 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1],
658 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2]);
667 vec[0] * _mtx[0][0] + vec[1] * _mtx[1][0] + vec[2] * _mtx[2][0] + _mtx[3][0],
668 vec[0] * _mtx[0][1] + vec[1] * _mtx[1][1] + vec[2] * _mtx[2][1] + _mtx[3][1],
669 vec[0] * _mtx[0][2] + vec[1] * _mtx[1][2] + vec[2] * _mtx[2][2] + _mtx[3][2]);
677 double _GetDeterminant3(
size_t row1,
size_t row2,
size_t row3,
678 size_t col1,
size_t col2,
size_t col3)
const;
681 void _Jacobi3(
GfVec3d *eigenvalues,
GfVec3d eigenvectors[3])
const;
685 void _SetRotateFromQuat(
double r,
const GfVec3d& i);
709 #endif // PXR_BASE_GF_MATRIX4D_H
const double * GetArray() const
Returns vector components as a const array of double values.
GfMatrix4d & SetIdentity()
Sets the matrix to the identity matrix.
GF_API GfMatrix4d & SetRotate(const GfQuatd &rot)
GfVec3f GfProject(const GfVec4f &v)
friend GfMatrix4d operator*(const GfMatrix4d &m1, double d)
Returns the product of a matrix and a double.
GF_API double * Get(double m[4][4]) const
GF_API GfMatrix4d & operator*=(const GfMatrix4d &m)
Post-multiplies matrix m into this matrix.
GF_API bool Orthonormalize(bool issueWarning=true)
GF_API bool operator==(const GfMatrix4d &m) const
bool IsRightHanded() const
GfMatrix4d(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
bool IsLeftHanded() const
GF_API GfMatrix4d & SetScale(double scaleFactor)
Sets matrix to specify a uniform scaling by scaleFactor.
static const size_t numColumns
*get result *(waiting if necessary)*A common idiom is to fire a bunch of sub tasks at the and then *wait for them to all complete We provide a helper class
GF_API GfMatrix4d GetInverse(double *det=NULL, double eps=0) const
friend GfMatrix4d operator+(const GfMatrix4d &m1, const GfMatrix4d &m2)
Adds matrix m2 to m1.
GF_API GfMatrix4d & SetTranslate(const GfVec3d &trans)
GLsizei const GLfloat * value
GA_API const UT_StringHolder rot
void SetColumn(int i, const GfVec4d &v)
Sets a column of the matrix from a Vec4.
GF_API GfMatrix4d & SetTransform(const GfRotation &rotate, const GfVec3d &translate)
GF_API GfMatrix4d & operator-=(const GfMatrix4d &m)
Subtracts matrix m from this matrix.
GF_API GfMatrix4d GetOrthonormalized(bool issueWarning=true) const
Returns an orthonormalized copy of the matrix.
GF_API GfMatrix4d & SetTranslateOnly(const GfVec3d &t)
GF_API GfMatrix4d & operator+=(const GfMatrix4d &m)
Adds matrix m to this matrix.
GF_API GfVec3d DecomposeRotation(const GfVec3d &axis0, const GfVec3d &axis1, const GfVec3d &axis2) const
GfVec3d Transform(const GfVec3d &vec) const
bool HasOrthogonalRows3() const
GfVec3d TransformDir(const GfVec3d &vec) const
friend GfMatrix4d operator/(const GfMatrix4d &m1, const GfMatrix4d &m2)
Divides matrix m1 by m2 (that is, m1 * inv(m2)).
GfMatrix4d()=default
Default constructor. Leaves the matrix component values undefined.
double * operator[](int i)
GF_API GfMatrix4d GetTranspose() const
Returns the transpose of the matrix.
GF_API GfMatrix4d & SetDiagonal(double s)
Sets the matrix to s times the identity matrix.
GfMatrix4d & Set(const double m[4][4])
GF_API GfQuatd ExtractRotationQuat() const
T * GetData()
Return a pointer to the start of all the data.
GfMatrix4d(const double m[4][4])
GA_API const UT_StringHolder trans
static const size_t numRows
GfMatrix4d(const GfVec4d &v)
double GetDeterminant3() const
GF_API double GetDeterminant() const
Returns the determinant of the matrix.
GfVec4d GetRow(int i) const
Gets a row of the matrix as a Vec4.
GF_API friend GfMatrix4d operator-(const GfMatrix4d &m)
Returns the unary negation of matrix m.
GF_API double GetHandedness() const
double * GetArray()
Returns vector components as an array of double values.
GfVec3d TransformAffine(const GfVec3d &vec) const
GF_API GfRotation ExtractRotation() const
GF_API bool Factor(GfMatrix4d *r, GfVec3d *s, GfMatrix4d *u, GfVec3d *t, GfMatrix4d *p, double eps=1e-10) const
GF_API GfMatrix4d & SetLookAt(const GfVec3d &eyePoint, const GfVec3d ¢erPoint, const GfVec3d &upDirection)
friend size_t hash_value(GfMatrix4d const &m)
Hash.
double GfDot(const GfDualQuatd &dq1, const GfDualQuatd &dq2)
Return the dot (inner) product of two dual quaternions.
GF_API GfMatrix3d ExtractRotationMatrix() const
ImageBuf OIIO_API rotate(const ImageBuf &src, float angle, string_view filtername=string_view(), float filterwidth=0.0f, bool recompute_roi=false, ROI roi={}, int nthreads=0)
GF_API bool GfIsClose(GfMatrix4d const &m1, GfMatrix4d const &m2, double tolerance)
GF_API std::ostream & operator<<(std::ostream &, GfMatrix4d const &)
GfMatrix4d & Set(double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
static size_t Combine(Args &&...args)
Produce a hash code by combining the hash codes of several objects.
PXR_NAMESPACE_CLOSE_SCOPE PXR_NAMESPACE_OPEN_SCOPE
GF_API GfMatrix4d & SetRotateOnly(const GfQuatd &rot)
const double * data() const
void SetRow(int i, const GfVec4d &v)
Sets a row of the matrix from a Vec4.
#define PXR_NAMESPACE_CLOSE_SCOPE
GF_API GfMatrix4d RemoveScaleShear() const
void SetRow3(int i, const GfVec3d &v)
PUGI__FN char_t * translate(char_t *buffer, const char_t *from, const char_t *to, size_t to_length)
GfVec3d ExtractTranslation() const
GfVec4d GetColumn(int i) const
Gets a column of the matrix as a Vec4.
GfMatrix4d & SetZero()
Sets the matrix to zero.
bool operator!=(const GfMatrix4d &m) const
GfVec3d GetRow3(int i) const
Gets a row of the matrix as a Vec3.
#define GF_MIN_ORTHO_TOLERANCE