rdMtx.h Source File

00001 // rdMtx.h
00002 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00003 // Copyright 2000 Realistic Dynamics, Inc.
00004 // All rights reserved.
00005 //
00006 // Please do not read, copy, distribute, or use without permission.
00007 // Contact: Frank C. Anderson, fca@RealisticDynamics.com
00008 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009 #ifndef __rdMtx_h__
00010 #define __rdMtx_h__
00011 
00012 
00013 // INCLUDES
00014 #include "rdTools.h"
00015 
00016 
00017 //=============================================================================
00018 //=============================================================================
00023 class RDTOOLS_API rdMtx
00024 {
00025 //=============================================================================
00026 // DATA
00027 //=============================================================================
00028 private:
00029    static int _PSpaceSize;
00030    static int _WSpaceSize;
00031    static double **_P1Space;
00032    static double **_P2Space;
00033    static double *_WSpace;
00034 
00035 //=============================================================================
00036 // METHODS
00037 //=============================================================================
00038 public:
00039    //--------------------------------------------------------------------------
00040    // CONSTRUCTION
00041    //--------------------------------------------------------------------------
00042    //rdMtx();
00043    //virtual ~rdMtx();
00044 
00045    //--------------------------------------------------------------------------
00046    // VECTOR
00047    //--------------------------------------------------------------------------
00048    static double Angle(const double *aV1,const double *aV2);
00049    static double Normalize(int aN,const double aV[],double rV[]);
00050    static double Magnitude(int aN,const double aV[]);
00051    static double DotProduct(int aN,const double aV1[],const double aV2[]);
00052    static int CrossProduct(double *aV1,double *aV2,double *aV);
00053    static void
00054     Interpolate(int aN,double aT1,double *aY1,double aT2,double *aY2,
00055     double t,double *aY);
00056    static double
00057     Interpolate(double aT1,double aY1,double aT2,double aY2,
00058     double t);
00059 
00060    //--------------------------------------------------------------------------
00061    // TRANSLATION AND ROTATION
00062    //--------------------------------------------------------------------------
00063    static void
00064       Translate(double aX,double aY,double aZ,const double aP[3],double rP[3]);
00065    static void
00066       Rotate(int aXYZ,double aRadians,const double aP[3],double rP[3]);
00067    static void
00068       Rotate(const double aAxis[3],double aRadians,const double aP[3],
00069       double rP[3]);
00070    static void
00071       RotateDeg(int aXYZ,double aDegrees,const double aP[3],double rP[3]);
00072    static void
00073       RotateDeg(const double aAxis[3],double aDegrees,const double aP[3],
00074       double rP[3]);
00075 
00076    //--------------------------------------------------------------------------
00077    // MATRIX
00078    //--------------------------------------------------------------------------
00079    static int Identity(int aNR,double *rI);
00080    static int Assign(int aNR,int aNC,double aScalar,double *rM);
00081    static int Assign(int aNR,int aNC,const double *aM,double *rM);
00082    static int Add(int aNR,int aNC,const double *aM1,double aScalar,double *aM);
00083    static int Add(int aNR,int aNC,const double *aM1,const double *aM2,double *aM);
00084    static int Subtract(int aNR,int aNC,const double *aM1,const double *aM2,
00085       double *aM);
00086    static int Multiply(int aNR,int aNC,const double *aM,double aScalar,double *rM);
00087    static int Multiply(int aNR1,int aNCR,int aNC2,const double *aM1,
00088       const double *aM2,double *aM);
00089    static int Invert(int aN,const double *aM,double *aMInv);
00090    static int Transpose(int aNR,int aNC,const double *aM,double *aMT);
00091    static void Print(int aNR,int aNC,const double *aM,int aPrecision=8);
00092 
00093    //--------------------------------------------------------------------------
00094    // INDEX OPERATIONS
00095    //--------------------------------------------------------------------------
00096    static int FindIndex(int aStartIndex,double aTime,int aNT,double *aT);
00097    static int FindIndexLess(int aNX,double *aX,double aValue);
00098    static int FindIndexGreater(int aNX,double *aX,double aValue);
00099    static int ComputeIndex(int i2,int n1,int i1);
00100    static int ComputeIndex(int i3,int n2,int i2,int n1,int i1);
00101    static void GetDim3(int n3,int n2,int n1,int i2,int i1,double *m,double *a);
00102    static void SetDim3(int n3,int n2,int n1,int i2,int i1,double *m,double *a);
00103 
00104    //--------------------------------------------------------------------------
00105    // WORKSPACE MANAGEMENT
00106    //--------------------------------------------------------------------------
00107    static int EnsureWorkSpaceCapacity(int aN);
00108    static int EnsurePointerSpaceCapacity(int aN);
00109    static void FreeWorkAndPointerSpaces();
00110 
00111 //=============================================================================
00112 }; // END class rdMtx
00113 //=============================================================================
00114 //=============================================================================
00115 
00116 #endif  // __rdMtx_h__