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2008-03-01 00:06:37 +00:00
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lib/poems/mat4x4.cpp
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: mat4x4.cpp *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#include "mat4x4.h"
using namespace std;
Mat4x4::Mat4x4(){
numrows = numcols = 4;
}
Mat4x4::~Mat4x4(){
}
Mat4x4::Mat4x4(const Mat4x4& A){
numrows = numcols = 4;
elements[0][0] = A.elements[0][0];elements[0][1] = A.elements[0][1];elements[0][2] = A.elements[0][2]; elements[0][3] = A.elements[0][3];
elements[1][0] = A.elements[1][0];elements[1][1] = A.elements[1][1];elements[1][2] = A.elements[1][2]; elements[1][3] = A.elements[1][3];
elements[2][0] = A.elements[2][0];elements[2][1] = A.elements[2][1];elements[2][2] = A.elements[2][2]; elements[2][3] = A.elements[2][3];
elements[3][0] = A.elements[3][0];elements[3][1] = A.elements[3][1];elements[3][2] = A.elements[3][2]; elements[3][3] = A.elements[3][3];
}
Mat4x4::Mat4x4(const VirtualMatrix& A){
numrows = numcols = 4;
// error check
if( (A.GetNumRows() != 4) || (A.GetNumCols() != 4) ){
cerr << "illegal matrix size" << endl;
exit(0);
}
for(int i=0;i<4;i++)
for(int j=0;j<4;j++)
elements[i][j] = A.BasicGet(i,j);
}
double& Mat4x4::operator_2int(int i, int j){ // array access
return elements[i-1][j-1];
}
double Mat4x4::Get_2int(int i, int j) const{
return elements[i-1][j-1];
}
void Mat4x4::Set_2int(int i, int j, double value){
elements[i-1][j-1] = value;
}
double Mat4x4::BasicGet_2int(int i, int j) const{
return elements[i][j];
}
void Mat4x4::BasicSet_2int(int i, int j, double value){
elements[i][j] = value;
}
void Mat4x4::BasicIncrement_2int(int i, int j, double value){
elements[i][j] += value;
}
void Mat4x4::Const(double value){
elements[0][0] = elements[0][1] = elements[0][2] = elements[0][3] = value;
elements[1][0] = elements[1][1] = elements[1][2] = elements[1][3] = value;
elements[2][0] = elements[2][1] = elements[2][2] = elements[2][3] = value;
elements[3][0] = elements[3][1] = elements[3][2] = elements[3][3] = value;
}
MatrixType Mat4x4::GetType() const{
return MAT4X4;
}
istream& Mat4x4::ReadData(istream& c){ //input
for(int i=0;i<4;i++)
for(int j=0;j<4;j++)
c >> elements[i][j];
return c;
}
ostream& Mat4x4::WriteData(ostream& c) const{ //output
for(int i=0;i<4;i++)
for(int j=0;j<4;j++)
c << elements[i][j] << ' ';
return c;
}
void Mat4x4::AssignVM(const VirtualMatrix& A){
// error check
if( (A.GetNumRows() != 4) || (A.GetNumCols() != 4) ){
cerr << "illegal matrix size" << endl;
exit(0);
}
for(int i=0;i<numrows;i++)
for(int j=0;j<numcols;j++)
elements[i][j] = A.BasicGet(i,j);
}
Mat4x4& Mat4x4::operator=(const Mat4x4& A){ // assignment operator
elements[0][0] = A.elements[0][0];elements[0][1] = A.elements[0][1];elements[0][2] = A.elements[0][2]; elements[0][3] = A.elements[0][3];
elements[1][0] = A.elements[1][0];elements[1][1] = A.elements[1][1];elements[1][2] = A.elements[1][2]; elements[1][3] = A.elements[1][3];
elements[2][0] = A.elements[2][0];elements[2][1] = A.elements[2][1];elements[2][2] = A.elements[2][2]; elements[2][3] = A.elements[2][3];
elements[3][0] = A.elements[3][0];elements[3][1] = A.elements[3][1];elements[3][2] = A.elements[3][2]; elements[3][3] = A.elements[3][3];
return *this;
}
Mat4x4& Mat4x4::operator=(const VirtualMatrix& A){ // overloaded =
// error check
if( (A.GetNumRows() != 4) || (A.GetNumCols() != 4) ){
cerr << "illegal matrix size" << endl;
exit(0);
}
for(int i=0;i<numrows;i++)
for(int j=0;j<numcols;j++)
elements[i][j] = A.BasicGet(i,j);
return *this;
}
Mat4x4& Mat4x4::operator*=(double b){
elements[0][0] *= b; elements[0][1] *= b; elements[0][2] *= b; elements[0][3] *= b;
elements[1][0] *= b; elements[1][1] *= b; elements[1][2] *= b; elements[1][3] *= b;
elements[2][0] *= b; elements[2][1] *= b; elements[2][2] *= b; elements[2][3] *= b;
elements[3][0] *= b; elements[3][1] *= b; elements[3][2] *= b; elements[3][3] *= b;
return *this;
}
Mat4x4& Mat4x4::Identity(){
elements[0][0] = 1.0;
elements[0][1] = 0.0;
elements[0][2] = 0.0;
elements[0][3] = 0.0;
elements[1][0] = 0.0;
elements[1][1] = 1.0;
elements[1][2] = 0.0;
elements[1][3] = 0.0;
elements[2][0] = 0.0;
elements[2][1] = 0.0;
elements[2][2] = 1.0;
elements[2][3] = 0.0;
elements[3][0] = 0.0;
elements[3][1] = 0.0;
elements[3][2] = 0.0;
elements[3][3] = 1.0;
return *this;
}
/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: mat4x4.cpp *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#include "mat4x4.h"
using namespace std;
Mat4x4::Mat4x4(){
numrows = numcols = 4;
}
Mat4x4::~Mat4x4(){
}
Mat4x4::Mat4x4(const Mat4x4& A){
numrows = numcols = 4;
elements[0][0] = A.elements[0][0];elements[0][1] = A.elements[0][1];elements[0][2] = A.elements[0][2]; elements[0][3] = A.elements[0][3];
elements[1][0] = A.elements[1][0];elements[1][1] = A.elements[1][1];elements[1][2] = A.elements[1][2]; elements[1][3] = A.elements[1][3];
elements[2][0] = A.elements[2][0];elements[2][1] = A.elements[2][1];elements[2][2] = A.elements[2][2]; elements[2][3] = A.elements[2][3];
elements[3][0] = A.elements[3][0];elements[3][1] = A.elements[3][1];elements[3][2] = A.elements[3][2]; elements[3][3] = A.elements[3][3];
}
Mat4x4::Mat4x4(const VirtualMatrix& A){
numrows = numcols = 4;
// error check
if( (A.GetNumRows() != 4) || (A.GetNumCols() != 4) ){
cerr << "illegal matrix size" << endl;
exit(0);
}
for(int i=0;i<4;i++)
for(int j=0;j<4;j++)
elements[i][j] = A.BasicGet(i,j);
}
double& Mat4x4::operator_2int(int i, int j){ // array access
return elements[i-1][j-1];
}
double Mat4x4::Get_2int(int i, int j) const{
return elements[i-1][j-1];
}
void Mat4x4::Set_2int(int i, int j, double value){
elements[i-1][j-1] = value;
}
double Mat4x4::BasicGet_2int(int i, int j) const{
return elements[i][j];
}
void Mat4x4::BasicSet_2int(int i, int j, double value){
elements[i][j] = value;
}
void Mat4x4::BasicIncrement_2int(int i, int j, double value){
elements[i][j] += value;
}
void Mat4x4::Const(double value){
elements[0][0] = elements[0][1] = elements[0][2] = elements[0][3] = value;
elements[1][0] = elements[1][1] = elements[1][2] = elements[1][3] = value;
elements[2][0] = elements[2][1] = elements[2][2] = elements[2][3] = value;
elements[3][0] = elements[3][1] = elements[3][2] = elements[3][3] = value;
}
MatrixType Mat4x4::GetType() const{
return MAT4X4;
}
istream& Mat4x4::ReadData(istream& c){ //input
for(int i=0;i<4;i++)
for(int j=0;j<4;j++)
c >> elements[i][j];
return c;
}
ostream& Mat4x4::WriteData(ostream& c) const{ //output
for(int i=0;i<4;i++)
for(int j=0;j<4;j++)
c << elements[i][j] << ' ';
return c;
}
void Mat4x4::AssignVM(const VirtualMatrix& A){
// error check
if( (A.GetNumRows() != 4) || (A.GetNumCols() != 4) ){
cerr << "illegal matrix size" << endl;
exit(0);
}
for(int i=0;i<numrows;i++)
for(int j=0;j<numcols;j++)
elements[i][j] = A.BasicGet(i,j);
}
Mat4x4& Mat4x4::operator=(const Mat4x4& A){ // assignment operator
elements[0][0] = A.elements[0][0];elements[0][1] = A.elements[0][1];elements[0][2] = A.elements[0][2]; elements[0][3] = A.elements[0][3];
elements[1][0] = A.elements[1][0];elements[1][1] = A.elements[1][1];elements[1][2] = A.elements[1][2]; elements[1][3] = A.elements[1][3];
elements[2][0] = A.elements[2][0];elements[2][1] = A.elements[2][1];elements[2][2] = A.elements[2][2]; elements[2][3] = A.elements[2][3];
elements[3][0] = A.elements[3][0];elements[3][1] = A.elements[3][1];elements[3][2] = A.elements[3][2]; elements[3][3] = A.elements[3][3];
return *this;
}
Mat4x4& Mat4x4::operator=(const VirtualMatrix& A){ // overloaded =
// error check
if( (A.GetNumRows() != 4) || (A.GetNumCols() != 4) ){
cerr << "illegal matrix size" << endl;
exit(0);
}
for(int i=0;i<numrows;i++)
for(int j=0;j<numcols;j++)
elements[i][j] = A.BasicGet(i,j);
return *this;
}
Mat4x4& Mat4x4::operator*=(double b){
elements[0][0] *= b; elements[0][1] *= b; elements[0][2] *= b; elements[0][3] *= b;
elements[1][0] *= b; elements[1][1] *= b; elements[1][2] *= b; elements[1][3] *= b;
elements[2][0] *= b; elements[2][1] *= b; elements[2][2] *= b; elements[2][3] *= b;
elements[3][0] *= b; elements[3][1] *= b; elements[3][2] *= b; elements[3][3] *= b;
return *this;
}
Mat4x4& Mat4x4::Identity(){
elements[0][0] = 1.0;
elements[0][1] = 0.0;
elements[0][2] = 0.0;
elements[0][3] = 0.0;
elements[1][0] = 0.0;
elements[1][1] = 1.0;
elements[1][2] = 0.0;
elements[1][3] = 0.0;
elements[2][0] = 0.0;
elements[2][1] = 0.0;
elements[2][2] = 1.0;
elements[2][3] = 0.0;
elements[3][0] = 0.0;
elements[3][1] = 0.0;
elements[3][2] = 0.0;
elements[3][3] = 1.0;
return *this;
}