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/***************************************************************************
* Copyright (C) 2005 by Abderrahman Taha *
* *
* *
* 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., *
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA *
***************************************************************************/
#include "Matrix5D.h"
/** Create a new unit matrix */
Matrix5D::Matrix5D() {
pi = 3.14159265;
xx = 1.0f;
yy = 1.0f;
zz = 1.0f;
ww = 1.0f;
tt = 1.0f;
ko = 1.0f;
xy = xz = xw = xt = xo = 0;
yx = yz = yw = yt = yo = 0;
zx = zy = zw = zt = zo = 0;
wx = wy = wz = wt = wo = 0;
tx = ty = tz = tw = to = 0;
kx = ky = kz = kw = kt = 0;
}
void Matrix5D::mult(Matrix5D rhs) {
double lxx = xx * rhs.xx + yx * rhs.xy + zx * rhs.xz + wx * rhs.xw + tx * rhs.xt;
double lxy = xy * rhs.xx + yy * rhs.xy + zy * rhs.xz + wy * rhs.xw + ty * rhs.xt;
double lxz = xz * rhs.xx + yz * rhs.xy + zz * rhs.xz + wz * rhs.xw + tz * rhs.xt;
double lxw = xw * rhs.xx + yw * rhs.xy + zw * rhs.xz + ww * rhs.xw + tw * rhs.xt;
double lxt = xt * rhs.xx + yt * rhs.xy + zt * rhs.xz + wt * rhs.xw + tt * rhs.xt;
double lxo = xo * rhs.xx + yo * rhs.xy + zo * rhs.xz + wo * rhs.xw + to * rhs.xt + rhs.xo;
double lyx = xx * rhs.yx + yx * rhs.yy + zx * rhs.yz + wx * rhs.yw + tx * rhs.yt;
double lyy = xy * rhs.yx + yy * rhs.yy + zy * rhs.yz + wy * rhs.yw + ty * rhs.yt;
double lyz = xz * rhs.yx + yz * rhs.yy + zz * rhs.yz + wz * rhs.yw + tz * rhs.yt;
double lyw = xw * rhs.yx + yw * rhs.yy + zw * rhs.yz + ww * rhs.yw + tw * rhs.yt;
double lyt = xt * rhs.yx + yt * rhs.yy + zt * rhs.yz + wt * rhs.yw + tt * rhs.yt;
double lyo = xo * rhs.yx + yo * rhs.yy + zo * rhs.yz + wo * rhs.yw + to * rhs.yt + rhs.yo;
double lzx = xx * rhs.zx + yx * rhs.zy + zx * rhs.zz + wx * rhs.zw + tx * rhs.zt;
double lzy = xy * rhs.zx + yy * rhs.zy + zy * rhs.zz + wy * rhs.zw + ty * rhs.zt;
double lzz = xz * rhs.zx + yz * rhs.zy + zz * rhs.zz + wz * rhs.zw + tz * rhs.zt;
double lzw = xw * rhs.zx + yw * rhs.zy + zw * rhs.zz + ww * rhs.zw + tw * rhs.zt;
double lzt = xt * rhs.zx + yt * rhs.zy + zt * rhs.zz + wt * rhs.zw + tt * rhs.zt;
double lzo = xo * rhs.zx + yo * rhs.zy + zo * rhs.zz + wo * rhs.zw + to * rhs.zt + rhs.zo;
double lwx = xx * rhs.wx + yx * rhs.wy + zx * rhs.wz + wx * rhs.ww + tx * rhs.wt;
double lwy = xy * rhs.wx + yy * rhs.wy + zy * rhs.wz + wy * rhs.ww + ty * rhs.wt;
double lwz = xz * rhs.wx + yz * rhs.wy + zz * rhs.wz + wz * rhs.ww + tz * rhs.wt;
double lww = xw * rhs.wx + yw * rhs.wy + zw * rhs.wz + ww * rhs.ww + tw * rhs.wt;
double lwt = xt * rhs.wx + yt * rhs.wy + zt * rhs.wz + wt * rhs.ww + tt * rhs.wt;
double lwo = xo * rhs.wx + yo * rhs.wy + zo * rhs.wz + wo * rhs.ww + to * rhs.wt + rhs.wo;
double ltx = xx * rhs.tx + yx * rhs.ty + zx * rhs.tz + wx * rhs.tw + tx * rhs.tt;
double lty = xy * rhs.tx + yy * rhs.ty + zy * rhs.tz + wy * rhs.tw + ty * rhs.tt;
double ltz = xz * rhs.tx + yz * rhs.ty + zz * rhs.tz + wz * rhs.tw + tz * rhs.tt;
double ltw = xw * rhs.tx + yw * rhs.ty + zw * rhs.tz + ww * rhs.tw + tw * rhs.tt;
double ltt = xt * rhs.tx + yt * rhs.ty + zt * rhs.tz + wt * rhs.tw + tt * rhs.tt;
double lto = xo * rhs.tx + yo * rhs.ty + zo * rhs.tz + wo * rhs.tw + to * rhs.tt + rhs.to;
xx = lxx;
xy = lxy;
xz = lxz;
xw = lxw;
xt = lxt;
xo = lxo;
yx = lyx;
yy = lyy;
yz = lyz;
yw = lyw;
yt = lyt;
yo = lyo;
zx = lzx;
zy = lzy;
zz = lzz;
zw = lzw;
zt = lzt;
zo = lzo;
wx = lwx;
wy = lwy;
wz = lwz;
ww = lww;
wt = lwt;
wo = lwo;
tx = ltx;
ty = lty;
tz = ltz;
tw = ltw;
tt = ltt;
to = lto;
}
/** rotate theta degrees about the yz plan */
void Matrix5D::yzrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Nyx = (double) (yx * ct + zx * st);
double Nyy = (double) (yy * ct + zy * st);
double Nyz = (double) (yz * ct + zz * st);
double Nyw = (double) (yw * ct + zw * st);
double Nyt = (double) (yt * ct + zt * st);
double Nyo = (double) (yo * ct + zo * st);
double Nzx = (double) (zx * ct - yx * st);
double Nzy = (double) (zy * ct - yy * st);
double Nzz = (double) (zz * ct - yz * st);
double Nzw = (double) (zw * ct - yw * st);
double Nzt = (double) (zt * ct - yt * st);
double Nzo = (double) (zo * ct - yo * st);
yo = Nyo;
yx = Nyx;
yy = Nyy;
yz = Nyz;
yw = Nyw;
yt = Nyt;
zo = Nzo;
zx = Nzx;
zy = Nzy;
zz = Nzz;
zw = Nzw;
zt = Nzt;
}
/** rotate theta degrees about the xz plan */
void Matrix5D::xzrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Nxx = (double) (xx * ct + zx * st);
double Nxy = (double) (xy * ct + zy * st);
double Nxz = (double) (xz * ct + zz * st);
double Nxw = (double) (xw * ct + zw * st);
double Nxt = (double) (xt * ct + zt * st);
double Nxo = (double) (xo * ct + zo * st);
double Nzx = (double) (zx * ct - xx * st);
double Nzy = (double) (zy * ct - xy * st);
double Nzz = (double) (zz * ct - xz * st);
double Nzw = (double) (zw * ct - xw * st);
double Nzt = (double) (zt * ct - xt * st);
double Nzo = (double) (zo * ct - xo * st);
xo = Nxo;
xx = Nxx;
xy = Nxy;
xz = Nxz;
xw = Nxw;
xt = Nxt;
zo = Nzo;
zx = Nzx;
zy = Nzy;
zz = Nzz;
zw = Nzw;
zt = Nzt;
}
/** rotate theta degrees about the xy plan */
void Matrix5D::xyrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Nyx = (double) (yx * ct + xx * st);
double Nyy = (double) (yy * ct + xy * st);
double Nyz = (double) (yz * ct + xz * st);
double Nyw = (double) (yw * ct + xw * st);
double Nyt = (double) (yt * ct + xt * st);
double Nyo = (double) (yo * ct + xo * st);
double Nxx = (double) (xx * ct - yx * st);
double Nxy = (double) (xy * ct - yy * st);
double Nxz = (double) (xz * ct - yz * st);
double Nxw = (double) (xw * ct - yw * st);
double Nxt = (double) (xt * ct - yt * st);
double Nxo = (double) (xo * ct - yo * st);
yo = Nyo;
yx = Nyx;
yy = Nyy;
yz = Nyz;
yw = Nyw;
yt = Nyt;
xo = Nxo;
xx = Nxx;
xy = Nxy;
xz = Nxz;
xw = Nxw;
xt = Nxt;
}
/** rotate theta degrees about the xw plan */
void Matrix5D::xwrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Nwx = (double) (wx * ct + xx * st);
double Nwy = (double) (wy * ct + xy * st);
double Nwz = (double) (wz * ct + xz * st);
double Nww = (double) (ww * ct + xw * st);
double Nwt = (double) (wt * ct + xt * st);
double Nwo = (double) (wo * ct + xo * st);
double Nxx = (double) (xx * ct - wx * st);
double Nxy = (double) (xy * ct - wy * st);
double Nxz = (double) (xz * ct - wz * st);
double Nxw = (double) (xw * ct - ww * st);
double Nxt = (double) (xt * ct - wt * st);
double Nxo = (double) (xo * ct - wo * st);
wo = Nwo;
wx = Nwx;
wy = Nwy;
wz = Nwz;
ww = Nww;
wt = Nwt;
xo = Nxo;
xx = Nxx;
xy = Nxy;
xz = Nxz;
xw = Nxw;
xt = Nxt;
}
/** rotate theta degrees about the xt plan */
void Matrix5D::xtrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Ntx = (double) (tx * ct + xx * st);
double Nty = (double) (ty * ct + xy * st);
double Ntz = (double) (tz * ct + xz * st);
double Ntw = (double) (tw * ct + xw * st);
double Ntt = (double) (tt * ct + xt * st);
double Nto = (double) (to * ct + xo * st);
double Nxx = (double) (xx * ct - tx * st);
double Nxy = (double) (xy * ct - ty * st);
double Nxz = (double) (xz * ct - tz * st);
double Nxw = (double) (xw * ct - tw * st);
double Nxt = (double) (xt * ct - tt * st);
double Nxo = (double) (xo * ct - to * st);
to = Nto;
tx = Ntx;
ty = Nty;
tz = Ntz;
tw = Ntw;
tt = Ntt;
xo = Nxo;
xx = Nxx;
xy = Nxy;
xz = Nxz;
xw = Nxw;
xt = Nxt;
}
/** rotate theta degrees about the yt plan */
void Matrix5D::ytrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Ntx = (double) (tx * ct + yx * st);
double Nty = (double) (ty * ct + yy * st);
double Ntz = (double) (tz * ct + yz * st);
double Ntw = (double) (tw * ct + yw * st);
double Ntt = (double) (tt * ct + yt * st);
double Nto = (double) (to * ct + yo * st);
double Nyx = (double) (yx * ct - tx * st);
double Nyy = (double) (yy * ct - ty * st);
double Nyz = (double) (yz * ct - tz * st);
double Nyw = (double) (yw * ct - tw * st);
double Nyt = (double) (yt * ct - tt * st);
double Nyo = (double) (yo * ct - to * st);
to = Nto;
tx = Ntx;
ty = Nty;
tz = Ntz;
tw = Ntw;
tt = Ntt;
yo = Nyo;
yx = Nyx;
yy = Nyy;
yz = Nyz;
yw = Nyw;
yt = Nyt;
}
/** rotate theta degrees about the zt plan */
void Matrix5D::ztrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Ntx = (double) (tx * ct + zx * st);
double Nty = (double) (ty * ct + zy * st);
double Ntz = (double) (tz * ct + zz * st);
double Ntw = (double) (tw * ct + zw * st);
double Ntt = (double) (tt * ct + zt * st);
double Nto = (double) (to * ct + zo * st);
double Nzx = (double) (zx * ct - tx * st);
double Nzy = (double) (zy * ct - ty * st);
double Nzz = (double) (zz * ct - tz * st);
double Nzw = (double) (zw * ct - tw * st);
double Nzt = (double) (zt * ct - tt * st);
double Nzo = (double) (zo * ct - to * st);
to = Nto;
tx = Ntx;
ty = Nty;
tz = Ntz;
tw = Ntw;
tt = Ntt;
zo = Nzo;
zx = Nzx;
zy = Nzy;
zz = Nzz;
zw = Nzw;
zt = Nzt;
}
/** rotate theta degrees about the wt plan */
void Matrix5D::wtrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Ntx = (double) (tx * ct + wx * st);
double Nty = (double) (ty * ct + wy * st);
double Ntz = (double) (tz * ct + wz * st);
double Ntw = (double) (tw * ct + ww * st);
double Ntt = (double) (tt * ct + wt * st);
double Nto = (double) (to * ct + wo * st);
double Nwx = (double) (wx * ct - tx * st);
double Nwy = (double) (wy * ct - ty * st);
double Nwz = (double) (wz * ct - tz * st);
double Nww = (double) (ww * ct - tw * st);
double Nwt = (double) (wt * ct - tt * st);
double Nwo = (double) (wo * ct - to * st);
to = Nto;
tx = Ntx;
ty = Nty;
tz = Ntz;
tw = Ntw;
tt = Ntt;
wo = Nwo;
wx = Nwx;
wy = Nwy;
wz = Nwz;
ww = Nww;
wt = Nwt;
}
/** rotate theta degrees about the yw plan */
void Matrix5D::ywrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Nwx = (double) (wx * ct + yx * st);
double Nwy = (double) (wy * ct + yy * st);
double Nwz = (double) (wz * ct + yz * st);
double Nww = (double) (ww * ct + yw * st);
double Nwt = (double) (wt * ct + yt * st);
double Nwo = (double) (wo * ct + yo * st);
double Nyx = (double) (yx * ct - wx * st);
double Nyy = (double) (yy * ct - wy * st);
double Nyz = (double) (yz * ct - wz * st);
double Nyw = (double) (yw * ct - ww * st);
double Nyt = (double) (yt * ct - wt * st);
double Nyo = (double) (yo * ct - wo * st);
wo = Nwo;
wx = Nwx;
wy = Nwy;
wz = Nwz;
ww = Nww;
wt = Nwt;
yo = Nyo;
yx = Nyx;
yy = Nyy;
yz = Nyz;
yw = Nyw;
yt = Nyt;
}
/** rotate theta degrees about the yw plan */
void Matrix5D::zwrot(double theta) {
theta *= (pi / 180);
double ct = cos(theta);
double st = sin(theta);
double Nwx = (double) (wx * ct + zx * st);
double Nwy = (double) (wy * ct + zy * st);
double Nwz = (double) (wz * ct + zz * st);
double Nww = (double) (ww * ct + zw * st);
double Nwt = (double) (wt * ct + zt * st);
double Nwo = (double) (wo * ct + zo * st);
double Nzx = (double) (zx * ct - wx * st);
double Nzy = (double) (zy * ct - wy * st);
double Nzz = (double) (zz * ct - wz * st);
double Nzw = (double) (zw * ct - ww * st);
double Nzt = (double) (zt * ct - wt * st);
double Nzo = (double) (zo * ct - wo * st);
wo = Nwo;
wx = Nwx;
wy = Nwy;
wz = Nwz;
ww = Nww;
wt = Nwt;
zo = Nzo;
zx = Nzx;
zy = Nzy;
zz = Nzz;
zw = Nzw;
zt = Nzt;
}
/** Reinitialize to the unit matrix */
void Matrix5D::unit() {
xo = 0;
xx = 1;
xy = 0;
xz = 0;
xw = 0;
xt = 0;
yo = 0;
yx = 0;
yy = 1;
yz = 0;
yw = 0;
yt = 0;
zo = 0;
zx = 0;
zy = 0;
zz = 1;
zw = 0;
zt = 0;
wo = 0;
wx = 0;
wy = 0;
wz = 0;
ww = 1;
wt = 0;
to = 0;
tx = 0;
ty = 0;
tz = 0;
tw = 0;
tt = 1;
ko = 1;
kx = 0;
ky = 0;
kz = 0;
kw = 0;
kt = 0;
};
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