Matrix2.hpp

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#ifndef Matrix2_INCLUDE_ONCE
#define Matrix2_INCLUDE_ONCE

#include <vlCore/checks.hpp>
#include <vlCore/Vector2.hpp>
#include <cstring> // memcpy

namespace vl
{
  //-----------------------------------------------------------------------------
  // Matrix2
  //-----------------------------------------------------------------------------
  template<typename T_Scalar>
  class Matrix2
  {
  public:
    typedef T_Scalar scalar_type;
    //-----------------------------------------------------------------------------
    template<typename T>
    explicit Matrix2(const Matrix2<T>& m)
    {
      e(0,0) = (T_Scalar)m.e(0,0); e(1,0) = (T_Scalar)m.e(1,0);
      e(0,1) = (T_Scalar)m.e(0,1); e(1,1) = (T_Scalar)m.e(1,1);
    }
    //-----------------------------------------------------------------------------
    Matrix2(const Matrix2& other)
    {
      operator=(other);
    }
    //-----------------------------------------------------------------------------
    Matrix2()
    {
      setIdentity();
    }
    //-----------------------------------------------------------------------------
    explicit Matrix2(T_Scalar n)
    {
      setIdentity();
      e(0,0) = e(1,1) = n;
    }
    //-----------------------------------------------------------------------------
    explicit Matrix2(T_Scalar e00, T_Scalar e01,
                      T_Scalar e10, T_Scalar e11 )
    {
      e(0,0) = e00; e(0,1) = e01;
      e(1,0) = e10; e(1,1) = e11;
    }
    //-----------------------------------------------------------------------------
    Matrix2& fill(T_Scalar val)
    {
      e(0,0) = e(1,0) =
      e(0,1) = e(1,1) = val;
      return *this;
    }
    //-----------------------------------------------------------------------------
    T_Scalar diff(const Matrix2& other) const
    {
      T_Scalar err = 0;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          if (e(j,i) > other.e(j,i)) // avoid fabs/abs
            err += e(j,i) - other.e(j,i);
          else
            err += other.e(j,i) - e(j,i);
      return err;
    }
    //-----------------------------------------------------------------------------
    bool operator==(const Matrix2& m) const
    {
      return memcmp(m.mVec, mVec, sizeof(T_Scalar)*4) == 0;
    }
    //-----------------------------------------------------------------------------
    bool operator!=(const Matrix2& m) const
    {
      return !operator==(m);
    }
    //-----------------------------------------------------------------------------
    Matrix2& operator=(const Matrix2& m)
    {
      memcpy(mVec, m.mVec, sizeof(T_Scalar)*4);
      return *this;
    }
    //-----------------------------------------------------------------------------
    Matrix2 operator+(const Matrix2& m) const
    {
      Matrix2 t;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          t.e(j,i) = e(j,i) + m.e(j,i);
      return t;
    }
    //-----------------------------------------------------------------------------
    Matrix2& operator+=(const Matrix2& m)
    {
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          e(j,i) += m.e(j,i);
      return *this;
    }
    //-----------------------------------------------------------------------------
    Matrix2 operator-(const Matrix2& m) const
    {
      Matrix2 t;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          t.e(j,i) = e(j,i) - m.e(j,i);
      return t;
    }
    //-----------------------------------------------------------------------------
    Matrix2& operator-=(const Matrix2& m)
    {
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          e(j,i) -= m.e(j,i);
      return *this;
    }
    //-----------------------------------------------------------------------------
    Matrix2& operator*=(const Matrix2& m)
    {
      return postMultiply(m);
    }
    //-----------------------------------------------------------------------------
    Matrix2 operator-() const
    {
      Matrix2 t;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          t.e(j,i) = -e(j,i);
      return t;
    }
    //-----------------------------------------------------------------------------
    Matrix2 operator+(T_Scalar d) const
    {
      Matrix2 t;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          t.e(j,i) = e(j,i) + d;
      return t;
    }
    //-----------------------------------------------------------------------------
    Matrix2& operator+=(T_Scalar d)
    {
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          e(j,i) += d;
      return *this;
    }
    //-----------------------------------------------------------------------------
    Matrix2 operator-(T_Scalar d) const
    {
      Matrix2 t;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          t.e(j,i) = e(j,i) - d;
      return t;
    }
    //-----------------------------------------------------------------------------
    Matrix2& operator-=(T_Scalar d)
    {
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          e(j,i) -= d;
      return *this;
    }
    //-----------------------------------------------------------------------------
    Matrix2 operator*(T_Scalar d) const
    {
      Matrix2 t;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          t.e(j,i) = e(j,i) * d;
      return t;
    }
    //-----------------------------------------------------------------------------
    Matrix2& operator*=(T_Scalar d)
    {
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          e(j,i) *= d;
      return *this;
    }
    //-----------------------------------------------------------------------------
    Matrix2 operator/(T_Scalar d) const
    {
      d = (T_Scalar)1 / d;
      Matrix2 t;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          t.e(j,i) = e(j,i) * d;
      return t;
    }
    //-----------------------------------------------------------------------------
    Matrix2& operator/=(T_Scalar d)
    {
      d = (T_Scalar)1 / d;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          e(j,i) *= d;
      return *this;
    }
    //-----------------------------------------------------------------------------
    bool isIdentity() const
    {
      Matrix2 i;
      return memcmp(ptr(), i.ptr(), sizeof(T_Scalar)*4) == 0;
    }
    //-----------------------------------------------------------------------------
    T_Scalar* ptr()
    {
      return &e(0,0);
    }
    //-----------------------------------------------------------------------------
    const T_Scalar* ptr() const
    {
      return &e(0,0);
    }
    //-----------------------------------------------------------------------------
    Matrix2& transpose()
    {
      T_Scalar tmp;
      for(int i=0; i<2; ++i)
      {
        for(int j=i; j<2; ++j)
        {
          tmp = e(j,i);
          e(j,i) = e(i,j);
          e(i,j) = tmp;
        }
      }
      return *this;
    }
    //-----------------------------------------------------------------------------
    Matrix2 getTransposed() const
    {
      Matrix2 m;
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          m.e(j,i) = e(i,j);
      return m;
    }
    //-----------------------------------------------------------------------------
    Matrix2& getTransposed(Matrix2& dest) const
    {
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          dest.e(j,i) = e(i,j);
      return dest;
    }
    //-----------------------------------------------------------------------------
    bool isNull() const
    {
      for(int i=0; i<2; ++i)
        for(int j=0; j<2; ++j)
          if(mVec[j][i] != 0)
            return false;
      return true;
    }
    //-----------------------------------------------------------------------------
    Matrix2& setNull()
    {
      fill(0);
      return *this;
    }
    //-----------------------------------------------------------------------------
    static Matrix2& getNull(Matrix2& out)
    {
      out.fill(0);
      return out;
    }
    //-----------------------------------------------------------------------------
    static Matrix2 getNull()
    {
      return Matrix2().fill(0);
    }
    //-----------------------------------------------------------------------------
    Matrix2& setIdentity()
    {
      static const T_Scalar I2d[] =
      {
        (T_Scalar)1, (T_Scalar)0,
        (T_Scalar)0, (T_Scalar)1
      };
      memcpy(mVec, I2d, sizeof(T_Scalar)*4);
      return *this;
    }
    //-----------------------------------------------------------------------------
    static Matrix2 getIdentity()
    {
      return Matrix2();
    }
    //-----------------------------------------------------------------------------
    static Matrix2& getIdentity(Matrix2& out)
    {
      out.setIdentity();
      return out;
    }
    //-----------------------------------------------------------------------------
    T_Scalar getInverse(Matrix2& dest) const
    {
      if (&dest == this)
      {
        Matrix2 tmp;
        T_Scalar det = getInverse(tmp);
        dest = tmp;
        return det;
      }
      else
      {
        const T_Scalar& a11 = e(0,0);
        const T_Scalar& a12 = e(1,0);
        const T_Scalar& a21 = e(0,1);
        const T_Scalar& a22 = e(1,1);

        dest.fill(0);

        T_Scalar det = a11*a22-a12*a21;

        if (det != 0)
          dest = Matrix2(+a22, -a12, -a21, +a11) / det;

        return det;
      }
    }
    //-----------------------------------------------------------------------------
    Matrix2 getInverse(T_Scalar *determinant=NULL) const
    {
      Matrix2 tmp;
      T_Scalar det = getInverse(tmp);
      if (determinant)
        *determinant = det;
      return tmp;
    }
    //-----------------------------------------------------------------------------
    Matrix2& invert(T_Scalar *determinant=NULL)
    {
      T_Scalar det = getInverse(*this);
      if (determinant)
        *determinant = det;
      return *this;
    }
    //-----------------------------------------------------------------------------
    static Matrix2& multiply(Matrix2& out, const Matrix2& p, const Matrix2& q)
    {
      VL_CHECK(out.ptr() != p.ptr() && out.ptr() != q.ptr());

      out.e(0,0) = q.e(0,0)*p.e(0,0) + q.e(1,0)*p.e(0,1);
      out.e(0,1) = q.e(0,1)*p.e(0,0) + q.e(1,1)*p.e(0,1);

      out.e(1,0) = q.e(0,0)*p.e(1,0) + q.e(1,0)*p.e(1,1);
      out.e(1,1) = q.e(0,1)*p.e(1,0) + q.e(1,1)*p.e(1,1);

      return out;
    }
    //-----------------------------------------------------------------------------
    Matrix2& postMultiply(const Matrix2& m)
    {
      Matrix2<T_Scalar> t;
      return *this = multiply(t, *this, m);
    }
    //-----------------------------------------------------------------------------
    Matrix2& preMultiply(const Matrix2& m)
    {
      Matrix2<T_Scalar> t;
      return *this = multiply(t, m, *this);
    }
    //-----------------------------------------------------------------------------

    const T_Scalar& e(int i, int j) const { return mVec[j][i]; }
    T_Scalar& e(int i, int j) { return mVec[j][i]; }

  private:
    const Vector2<T_Scalar>& operator[](unsigned int i) const { VL_CHECK(i<2); return mVec[i]; }
    Vector2<T_Scalar>& operator[](unsigned int i) { VL_CHECK(i<2); return mVec[i]; }

  protected:
    Vector2<T_Scalar> mVec[2];
  };

  //-----------------------------------------------------------------------------
  // OPERATORS
  //-----------------------------------------------------------------------------
  template<typename T_Scalar>
  inline Matrix2<T_Scalar> operator*(const Matrix2<T_Scalar>& p, const Matrix2<T_Scalar>& q)
  {
    Matrix2<T_Scalar> t;
    Matrix2<T_Scalar>::multiply(t, p, q);
    return t;
  }
  //-----------------------------------------------------------------------------
  template<typename T_Scalar>
  inline Matrix2<T_Scalar> operator+(T_Scalar d, const Matrix2<T_Scalar>& m)
  {
    return m + d;
  }
  //-----------------------------------------------------------------------------
  template<typename T_Scalar>
  inline Matrix2<T_Scalar> operator*(T_Scalar d, const Matrix2<T_Scalar>& m)
  {
    return m * d;
  }
  //-----------------------------------------------------------------------------
  // post multiplication: matrix * column vector
  template<typename T_Scalar>
  inline Vector2<T_Scalar> operator*(const Matrix2<T_Scalar>& m, const Vector2<T_Scalar>& v)
  {
    Vector2<T_Scalar> t;
    t.x() = v.x()*m.e(0,0) + v.y()*m.e(0,1);
    t.y() = v.x()*m.e(1,0) + v.y()*m.e(1,1);
    return t;
  }
  //-----------------------------------------------------------------------------
  // pre-multiplication: row vector * matrix
  template<typename T_Scalar>
  inline Vector2<T_Scalar> operator*(const Vector2<T_Scalar>& v, const Matrix2<T_Scalar>& m)
  {
    Vector2<T_Scalar> t;
    t.x() = v.x()*m.e(0,0) + v.y()*m.e(1,0);
    t.y() = v.x()*m.e(0,1) + v.y()*m.e(1,1);
    return t;
  }
  //-----------------------------------------------------------------------------

  typedef Matrix2<double> dmat2;
  typedef Matrix2<float>  fmat2;
  typedef Matrix2<int>    imat2;
  typedef Matrix2<unsigned int>  umat2;

  #if VL_PIPELINE_PRECISION == 2
    typedef dmat2 mat2;
  #else
    typedef fmat2 mat2;
  #endif
}

#endif