Matrix.cpp

/*
 *  Copyright (C) 2005 L2TI Universite Paris-13
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

#include<ImLib3D/Matrix.hpp>

Matrix::Matrix(float m00,float m01,float m02,
               float m10,float m11,float m12,
               float m20,float m21,float m22)
{
    data[0][0]=m00;data[0][1]=m01;data[0][2]=m02;
    data[1][0]=m10;data[1][1]=m11;data[1][2]=m12;
    data[2][0]=m20;data[2][1]=m21;data[2][2]=m22;
}

Matrix::Matrix(const float *initArray)
{
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        data[i][j]=*(initArray++);
    }
}
Matrix::Matrix(const Matrix &other)
{
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        data[i][j]=other.data[i][j];
    }
}

float
Matrix::MaxElement()
{
    float result=data[0][0];
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        result=max(result,data[i][j]);
    }
    return result;
}

void
Matrix::SetToZero()
{
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        data[i][j]=0;
    }
}

void
Matrix::Transpose()
{
    Matrix result;
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        result.data[i][j]=data[j][i];
    }
    *this=result;
}

void
Matrix::Inverse() 
{
    Matrix result;
    float det=0;
    for(int i=0;i<3;i++)
    {
        det+=data[i][0]*Cofactor(i,0);
    }
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        result.data[i][j]=Cofactor(i,j)/det;
    }
    result.Transpose();
    *this=result;
}


Matrix
Matrix::operator-(const Matrix &other) const
{
    Matrix result;
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        result.data[i][j]=data[i][j]-other.data[i][j];
    }   
    return result;
}
Matrix
Matrix::operator+(const Matrix &other) const
{
    Matrix result;
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        result.data[i][j]=data[i][j]+other.data[i][j];
    }   
    return result;
}
Matrix
Matrix::operator*(const Matrix &other) const
{
    Matrix result;
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        float s=0;
        for(int k=0;k<3;k++)
        {
            s+=data[i][k]*other.data[k][j];
        }   
        result.data[i][j]=s;
    }
    return result;
}

Vect3Df
Matrix::operator*(const Vect3Df &v) const
{
    Vect3Df result;
    for(int i=0;i<3;i++)
    {
        float s=0;
        for(int k=0;k<3;k++)
        {
            s+=data[i][k]*v(k);
        }   
        result(i)=s;
    }
    return result;
}



void 
Matrix::operator=(const Matrix &other)
{
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        data[i][j]=other(i,j);
    }   
}
bool
Matrix::operator==(const Matrix &other)
{
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        if(data[i][j]!=other(i,j)){return false;}
    }
    return true;
}

#include<iomanip>
ostream& operator<< (ostream& s, const Matrix& matrix)
{
    for(int i=0;i<3;i++)
    {
        for(int j=0;j<3;j++)
        {
            s << setw(10) << matrix(i,j);
            if(j<2){s << " ";}
        }
        s << endl;      
    }
    return s;
}

Matrix operator*(float s,const Matrix &matrix)
{
    Matrix result;
    for(int i=0;i<3;i++)
    for(int j=0;j<3;j++)
    {
        result(i,j)=s*matrix(i,j);
    }   
    return result;
}

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