2 * Copyright (C) 2011 The Android Open Source Project
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
23 // -----------------------------------------------------------------------
27 template <typename TYPE, size_t C, size_t R>
32 template <typename TYPE, size_t C, size_t R>
33 mat<TYPE, C, R>& doAssign(
35 typename TypeTraits<TYPE>::ParameterType rhs) {
36 for (size_t i=0 ; i<C ; i++)
37 for (size_t j=0 ; j<R ; j++)
38 lhs[i][j] = (i==j) ? rhs : 0;
42 template <typename TYPE, size_t C, size_t R, size_t D>
43 mat<TYPE, C, R> PURE doMul(
44 const mat<TYPE, D, R>& lhs,
45 const mat<TYPE, C, D>& rhs)
48 for (size_t c=0 ; c<C ; c++) {
49 for (size_t r=0 ; r<R ; r++) {
51 for (size_t k=0 ; k<D ; k++) {
52 v += lhs[k][r] * rhs[c][k];
60 template <typename TYPE, size_t R, size_t D>
61 vec<TYPE, R> PURE doMul(
62 const mat<TYPE, D, R>& lhs,
63 const vec<TYPE, D>& rhs)
66 for (size_t r=0 ; r<R ; r++) {
68 for (size_t k=0 ; k<D ; k++) {
69 v += lhs[k][r] * rhs[k];
76 template <typename TYPE, size_t C, size_t R>
77 mat<TYPE, C, R> PURE doMul(
78 const vec<TYPE, R>& lhs,
79 const mat<TYPE, C, 1>& rhs)
82 for (size_t c=0 ; c<C ; c++) {
83 for (size_t r=0 ; r<R ; r++) {
84 res[c][r] = lhs[r] * rhs[c][0];
90 template <typename TYPE, size_t C, size_t R>
91 mat<TYPE, C, R> PURE doMul(
92 const mat<TYPE, C, R>& rhs,
93 typename TypeTraits<TYPE>::ParameterType v)
96 for (size_t c=0 ; c<C ; c++) {
97 for (size_t r=0 ; r<R ; r++) {
98 res[c][r] = rhs[c][r] * v;
104 template <typename TYPE, size_t C, size_t R>
105 mat<TYPE, C, R> PURE doMul(
106 typename TypeTraits<TYPE>::ParameterType v,
107 const mat<TYPE, C, R>& rhs)
110 for (size_t c=0 ; c<C ; c++) {
111 for (size_t r=0 ; r<R ; r++) {
112 res[c][r] = v * rhs[c][r];
119 }; // namespace helpers
121 // -----------------------------------------------------------------------
123 template <typename TYPE, size_t C, size_t R>
124 class mat : public vec< vec<TYPE, R>, C > {
125 typedef typename TypeTraits<TYPE>::ParameterType pTYPE;
126 typedef vec< vec<TYPE, R>, C > base;
128 // STL-like interface.
129 typedef TYPE value_type;
130 typedef TYPE& reference;
131 typedef TYPE const& const_reference;
132 typedef size_t size_type;
133 size_type size() const { return R*C; }
134 enum { ROWS = R, COLS = C };
137 // -----------------------------------------------------------------------
138 // default constructors
141 mat(const mat& rhs) : base(rhs) { }
142 mat(const base& rhs) : base(rhs) { }
144 // -----------------------------------------------------------------------
145 // conversion constructors
147 // sets the diagonal to the value, off-diagonal to zero
149 helpers::doAssign(*this, rhs);
152 // -----------------------------------------------------------------------
155 mat& operator=(const mat& rhs) {
156 base::operator=(rhs);
160 mat& operator=(const base& rhs) {
161 base::operator=(rhs);
165 mat& operator=(pTYPE rhs) {
166 return helpers::doAssign(*this, rhs);
169 // -----------------------------------------------------------------------
170 // non-member function declaration and definition
172 friend inline mat PURE operator + (const mat& lhs, const mat& rhs) {
173 return helpers::doAdd(
174 static_cast<const base&>(lhs),
175 static_cast<const base&>(rhs));
177 friend inline mat PURE operator - (const mat& lhs, const mat& rhs) {
178 return helpers::doSub(
179 static_cast<const base&>(lhs),
180 static_cast<const base&>(rhs));
185 friend mat PURE operator * (
186 const mat<TYPE, D, R>& lhs,
187 const mat<TYPE, C, D>& rhs) {
188 return helpers::doMul(lhs, rhs);
192 friend vec<TYPE, R> PURE operator * (
193 const mat& lhs, const vec<TYPE, C>& rhs) {
194 return helpers::doMul(lhs, rhs);
198 friend mat PURE operator * (
199 const vec<TYPE, R>& lhs, const mat<TYPE, C, 1>& rhs) {
200 return helpers::doMul(lhs, rhs);
204 friend inline mat PURE operator * (const mat& lhs, pTYPE v) {
205 return helpers::doMul(lhs, v);
209 friend inline mat PURE operator * (pTYPE v, const mat& rhs) {
210 return helpers::doMul(v, rhs);
213 // -----------------------------------------------------------------------
214 // streaming operator to set the columns of the matrix:
217 // m << v0 << v1 << v2;
219 // column_builder<> stores the matrix and knows which column to set
220 template<size_t PREV_COLUMN>
221 struct column_builder {
223 column_builder(mat& matrix) : matrix(matrix) { }
226 // operator << is not a method of column_builder<> so we can
227 // overload it for unauthorized values (partial specialization
228 // not allowed in class-scope).
229 // we just set the column and return the next column_builder<>
230 template<size_t PREV_COLUMN>
231 friend column_builder<PREV_COLUMN+1> operator << (
232 const column_builder<PREV_COLUMN>& lhs,
233 const vec<TYPE, R>& rhs) {
234 lhs.matrix[PREV_COLUMN+1] = rhs;
235 return column_builder<PREV_COLUMN+1>(lhs.matrix);
238 // we return void here so we get a compile-time error if the
239 // user tries to set too many columns
240 friend void operator << (
241 const column_builder<C-2>& lhs,
242 const vec<TYPE, R>& rhs) {
243 lhs.matrix[C-1] = rhs;
246 // this is where the process starts. we set the first columns and
247 // return the next column_builder<>
248 column_builder<0> operator << (const vec<TYPE, R>& rhs) {
250 return column_builder<0>(*this);
254 // Specialize column matrix so they're exactly equivalent to a vector
255 template <typename TYPE, size_t R>
256 class mat<TYPE, 1, R> : public vec<TYPE, R> {
257 typedef vec<TYPE, R> base;
259 // STL-like interface.
260 typedef TYPE value_type;
261 typedef TYPE& reference;
262 typedef TYPE const& const_reference;
263 typedef size_t size_type;
264 size_type size() const { return R; }
265 enum { ROWS = R, COLS = 1 };
268 mat(const base& rhs) : base(rhs) { }
269 mat(const mat& rhs) : base(rhs) { }
270 mat(const TYPE& rhs) { helpers::doAssign(*this, rhs); }
271 mat& operator=(const mat& rhs) { base::operator=(rhs); return *this; }
272 mat& operator=(const base& rhs) { base::operator=(rhs); return *this; }
273 mat& operator=(const TYPE& rhs) { return helpers::doAssign(*this, rhs); }
274 // we only have one column, so ignore the index
275 const base& operator[](size_t) const { return *this; }
276 base& operator[](size_t) { return *this; }
277 void operator << (const vec<TYPE, R>& rhs) { base::operator[](0) = rhs; }
280 // -----------------------------------------------------------------------
283 // transpose. this handles matrices of matrices
284 inline int PURE transpose(int v) { return v; }
285 inline float PURE transpose(float v) { return v; }
286 inline double PURE transpose(double v) { return v; }
288 // Transpose a matrix
289 template <typename TYPE, size_t C, size_t R>
290 mat<TYPE, R, C> PURE transpose(const mat<TYPE, C, R>& m) {
292 for (size_t i=0 ; i<R ; i++)
293 for (size_t j=0 ; j<C ; j++)
294 r[i][j] = transpose(m[j][i]);
298 // Calculate the trace of a matrix
299 template <typename TYPE, size_t C> static TYPE trace(const mat<TYPE, C, C>& m) {
301 for (size_t i=0 ; i<C ; i++)
306 // Test positive-semidefiniteness of a matrix
307 template <typename TYPE, size_t C>
308 static bool isPositiveSemidefinite(const mat<TYPE, C, C>& m, TYPE tolerance) {
309 for (size_t i=0 ; i<C ; i++)
313 for (size_t i=0 ; i<C ; i++)
314 for (size_t j=i+1 ; j<C ; j++)
315 if (fabs(m[i][j] - m[j][i]) > tolerance)
321 // Transpose a vector
323 template<typename T, size_t S> class VEC,
327 mat<TYPE, SIZE, 1> PURE transpose(const VEC<TYPE, SIZE>& v) {
328 mat<TYPE, SIZE, 1> r;
329 for (size_t i=0 ; i<SIZE ; i++)
330 r[i][0] = transpose(v[i]);
334 // -----------------------------------------------------------------------
335 // "dumb" matrix inversion
336 template<typename T, size_t N>
337 mat<T, N, N> PURE invert(const mat<T, N, N>& src) {
340 mat<T, N, N> tmp(src);
341 mat<T, N, N> inverse(1);
343 for (size_t i=0 ; i<N ; i++) {
344 // look for largest element in column
346 for (size_t j=i+1 ; j<N ; j++) {
347 if (fabs(tmp[j][i]) > fabs(tmp[i][i])) {
354 for (size_t k=0 ; k<N ; k++) {
356 tmp[i][k] = tmp[swap][k];
360 inverse[i][k] = inverse[swap][k];
361 inverse[swap][k] = t;
366 for (size_t k=0 ; k<N ; k++) {
370 for (size_t j=0 ; j<N ; j++) {
373 for (size_t k=0 ; k<N ; k++) {
374 tmp[j][k] -= tmp[i][k] * t;
375 inverse[j][k] -= inverse[i][k] * t;
383 // -----------------------------------------------------------------------
385 typedef mat<float, 2, 2> mat22_t;
386 typedef mat<float, 3, 3> mat33_t;
387 typedef mat<float, 4, 4> mat44_t;
389 // -----------------------------------------------------------------------
391 }; // namespace android
393 #endif /* ANDROID_MAT_H */