/
Matrix34.swift
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/
Matrix34.swift
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//
// Matrix34.swift
// SwiftGeom
//
// Created by Marcin Pędzimąż on 27.10.2014.
// Copyright (c) 2014 Marcin Pedzimaz. All rights reserved.
//
import UIKit
struct Matrix34 {
var M: Matrix33 = Matrix33()
var t: Vector3 = Vector3()
init(rot: Matrix33, trans: Vector3) {
M = Matrix33(other: rot)
t = Vector3(other: trans)
}
init(initialize: Bool) {
if initialize {
M.identity()
t.zero()
}
}
}
extension Matrix34: Printable {
//dispaly in column major (OpenGL like)
var description: String {
var row0 = "\(M[0,0]),\(M[1,0]),\(M[2,0])"
var row1 = "\(M[0,1]),\(M[1,1]),\(M[2,1])"
var row2 = "\(M[0,2]),\(M[1,2]),\(M[2,2])"
var row3 = "\(t.x),\(t.y),\(t.z)"
return "[\(row0),0.0,\n\(row1),0.0,\n\(row2),0.0,\n\(row3),1.0]"
}
}
extension Matrix34 {
mutating func zero() {
M.zero()
t.zero()
}
mutating func identity() {
M.identity()
t.zero()
}
func isIdentity() -> Bool {
if M.isIdentity() == false {
return false
}
if t.isZero() == false {
return false
}
return true
}
func isFinite() -> Bool {
if M.isFinite() == false {
return false
}
if t.isFinite() == false {
return false
}
return true
}
func getInverse(inout dest: Matrix34) -> Bool {
var status = M.getInverse(&dest.M)
dest.M.multiply(t * -1.0, dst: &dest.t)
return status
}
func getInverseRT(inout dest: Matrix34) -> Bool {
dest.M.setTransposed(M)
dest.M.multiply(t * -1.0, dst: &dest.t)
return true
}
func multiply(src: Vector3, inout dst: Vector3) {
dst = M * src + t
}
func multiplyByInverseRT(src: Vector3, inout dst: Vector3) {
M.multiplyByTranspose(src - t, dst: &dst)
}
mutating func multiply(left: Matrix34, right: Matrix34) {
t = left.M * right.t + left.t
M.multiply(left.M, right: right.M)
}
//MARK: raw data GET
func getColumnMajor44(inout rawMatrix: Matrix4x4) {
M.getColumnMajorStride4(&rawMatrix)
rawMatrix.m13 = t.x
rawMatrix.m14 = t.y
rawMatrix.m15 = t.z
rawMatrix.m04 = 0.0
rawMatrix.m08 = 0.0
rawMatrix.m12 = 0.0
rawMatrix.m16 = 1.0
}
func getRowMajor44(inout rawMatrix: Matrix4x4) {
M.getRowMajorStride4(&rawMatrix)
rawMatrix.m04 = t.x
rawMatrix.m08 = t.y
rawMatrix.m12 = t.z
rawMatrix.m13 = 0.0
rawMatrix.m15 = 0.0
rawMatrix.m15 = 0.0
rawMatrix.m16 = 1.0
}
//MARK: raw data SET
mutating func setColumnMajor44(rawMatrix: Matrix4x4) {
M.setColumnMajorStride4(rawMatrix)
t.x = rawMatrix.m13
t.y = rawMatrix.m14
t.z = rawMatrix.m15
}
mutating func setRowMajor44(rawMatrix: Matrix4x4) {
M.setRowMajorStride4(rawMatrix)
t.x = rawMatrix.m04
t.y = rawMatrix.m08
t.z = rawMatrix.m12
}
}
func * (left: Matrix34, right: Matrix34) -> Matrix34 {
var dest = Matrix34(initialize: false)
dest.multiply(left,right: right)
return dest
}
func * (left: Matrix34, right: Float32) -> Matrix34 {
var dest = Matrix34(initialize: false)
dest.t = left.t * right
dest.M = left.M * right
return dest
}
func + (left: Matrix34, right: Matrix34) -> Matrix34 {
var dest = Matrix34(initialize: false)
dest.t = left.t+right.t
dest.M = left.M+right.M
return dest
}
func *= (inout left: Matrix34, right: Matrix34) {
left = left * right
}
func *= (inout left: Matrix34, right: Float32) {
left = left * right
}
func += (inout left: Matrix34, right: Matrix34) {
left = left + right
}