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// File gp_Mat.cxx, JCV 05/12/90
// 10/09/97 : PMN : Correction BUC40192 (pb avec les matrices negatives)
#ifndef DEB
#define No_Standard_OutOfRange
#define No_Standard_ConstructionError
#endif
#include <gp_Mat.ixx>
gp_Mat::gp_Mat (const gp_XYZ& Col1,
const gp_XYZ& Col2,
const gp_XYZ& Col3)
{
Mat00 = Col1.X(); Mat10 = Col1.Y(); Mat20 = Col1.Z();
Mat01 = Col2.X(); Mat11 = Col2.Y(); Mat21 = Col2.Z();
Mat02 = Col3.X(); Mat12 = Col3.Y(); Mat22 = Col3.Z();
}
void gp_Mat::SetCol (const Standard_Integer Col,
const gp_XYZ& Value) {
Standard_OutOfRange_Raise_if (Col < 1 || Col > 3, " ");
if (Col == 1) {
Mat00 = Value.X(); Mat10 = Value.Y(); Mat20 = Value.Z();
}
else if (Col == 2) {
Mat01 = Value.X(); Mat11 = Value.Y(); Mat21 = Value.Z();
}
else {
Mat02 = Value.X(); Mat12 = Value.Y(); Mat22 = Value.Z();
}
}
void gp_Mat::SetCols (const gp_XYZ& Col1,
const gp_XYZ& Col2,
const gp_XYZ& Col3)
{
Mat00 = Col1.X(); Mat10 = Col1.Y(); Mat20 = Col1.Z();
Mat01 = Col2.X(); Mat11 = Col2.Y(); Mat21 = Col2.Z();
Mat02 = Col3.X(); Mat12 = Col3.Y(); Mat22 = Col3.Z();
}
void gp_Mat::SetCross (const gp_XYZ& Ref)
{
Standard_Real X = Ref.X();
Standard_Real Y = Ref.Y();
Standard_Real Z = Ref.Z();
Mat00 = Mat11 = Mat22 = 0.0;
Mat01 = - Z;
Mat02 = Y;
Mat12 = - X;
Mat10 = Z;
Mat20 = - Y;
Mat21 = X;
}
void gp_Mat::SetDot (const gp_XYZ& Ref)
{
Standard_Real X = Ref.X();
Standard_Real Y = Ref.Y();
Standard_Real Z = Ref.Z();
Mat00 = X * X;
Mat11 = Y * Y;
Mat22 = Z * Z;
Mat01 = X * Y;
Mat02 = X * Z;
Mat12 = Y * Z;
Mat10 = Mat01;
Mat20 = Mat02;
Mat21 = Mat12;
}
void gp_Mat::SetRotation (const gp_XYZ& Axis,
const Standard_Real Ang)
{
// Rot = I + sin(Ang) * M + (1. - cos(Ang)) * M*M
// avec M . XYZ = Axis ^ XYZ
// const Standard_Address M = (Standard_Address)&(matrix[0][0]);
gp_XYZ V = Axis.Normalized();
SetCross (V);
Multiply (sin(Ang));
gp_Mat Temp;
Temp.SetScale (1.0);
Add (Temp);
Standard_Real A = V.X();
Standard_Real B = V.Y();
Standard_Real C = V.Z();
Temp.SetRow (1, gp_XYZ(- C*C - B*B, A*B, A*C ));
Temp.SetRow (2, gp_XYZ( A*B, -A*A - C*C, B*C ));
Temp.SetRow (3, gp_XYZ( A*C, B*C, - A*A - B*B));
Temp.Multiply (1.0 - cos(Ang));
Add (Temp);
}
void gp_Mat::SetRow (const Standard_Integer Row,
const gp_XYZ& Value)
{
Standard_OutOfRange_Raise_if (Row < 1 || Row > 3, " ");
if (Row == 1) {
Mat00 = Value.X(); Mat01 = Value.Y(); Mat02 = Value.Z();
}
else if (Row == 2) {
Mat10 = Value.X(); Mat11 = Value.Y(); Mat12 = Value.Z();
}
else {
Mat20 = Value.X(); Mat21 = Value.Y(); Mat22 = Value.Z();
}
}
void gp_Mat::SetRows (const gp_XYZ& Row1,
const gp_XYZ& Row2,
const gp_XYZ& Row3)
{
Mat00 = Row1.X(); Mat01 = Row1.Y(); Mat02 = Row1.Z();
Mat10 = Row2.X(); Mat11 = Row2.Y(); Mat12 = Row2.Z();
Mat20 = Row3.X(); Mat21 = Row3.Y(); Mat22 = Row3.Z();
}
gp_XYZ gp_Mat::Column (const Standard_Integer Col) const
{
Standard_OutOfRange_Raise_if (Col < 1 || Col > 3, "");
if (Col == 1) return gp_XYZ (Mat00,Mat10,Mat20);
if (Col == 2) return gp_XYZ (Mat01,Mat11,Mat21);
return gp_XYZ (Mat02,Mat12,Mat22);
}
gp_XYZ gp_Mat::Diagonal () const
{
return gp_XYZ (Mat00, Mat11, Mat22);
}
gp_XYZ gp_Mat::Row (const Standard_Integer Row) const
{
Standard_OutOfRange_Raise_if (Row < 1 || Row > 3, "");
if (Row == 1) return gp_XYZ (Mat00,Mat01,Mat02);
if (Row == 2) return gp_XYZ (Mat10,Mat11,Mat12);
return gp_XYZ (Mat20,Mat21,Mat22);
}
void gp_Mat::Invert ()
{
gp_Mat NewMat;
//
// calcul de la transposee de la commatrice
//
Nat00 = Mat11 * Mat22 - Mat12 * Mat21 ;
Nat10 = -(Mat10 * Mat22 - Mat20 * Mat12) ;
Nat20 = Mat10 * Mat21 - Mat20 * Mat11 ;
Nat01 = - (Mat01 * Mat22 - Mat21 * Mat02) ;
Nat11 = Mat00 * Mat22 - Mat20 * Mat02 ;
Nat21 = -(Mat00 * Mat21 - Mat20 * Mat01) ;
Nat02 = Mat01 * Mat12 - Mat11 * Mat02 ;
Nat12 = -(Mat00 * Mat12 - Mat10 * Mat02) ;
Nat22 = Mat00 * Mat11 - Mat01 * Mat10 ;
Standard_Real det = Mat00 * Nat00 + Mat01* Nat10 + Mat02 * Nat20 ;
Standard_Real val = det;
if (val < 0) val = - val;
Standard_ConstructionError_Raise_if
(val <= gp::Resolution(),"");
det = 1.0e0 / det ;
Mat00 = Nat00;
Mat10 = Nat10;
Mat20 = Nat20;
Mat01 = Nat01;
Mat11 = Nat11;
Mat21 = Nat21;
Mat02 = Nat02;
Mat12 = Nat12;
Mat22 = Nat22;
Multiply(det) ;
}
gp_Mat gp_Mat::Inverted () const
{
gp_Mat NewMat;
//
// calcul de la transposee de la commatrice
//
Nat00 = Mat11 * Mat22 - Mat12 * Mat21 ;
Nat10 = -(Mat10 * Mat22 - Mat20 * Mat12) ;
Nat20 = Mat10 * Mat21 - Mat20 * Mat11 ;
Nat01 = - (Mat01 * Mat22 - Mat21 * Mat02) ;
Nat11 = Mat00 * Mat22 - Mat20 * Mat02 ;
Nat21 = -(Mat00 * Mat21 - Mat20 * Mat01) ;
Nat02 = Mat01 * Mat12 - Mat11 * Mat02 ;
Nat12 = -(Mat00 * Mat12 - Mat10 * Mat02) ;
Nat22 = Mat00 * Mat11 - Mat01 * Mat10 ;
Standard_Real det = Mat00 * Nat00 + Mat01* Nat10 + Mat02 * Nat20 ;
Standard_Real val = det;
if (val < 0) val = - val;
Standard_ConstructionError_Raise_if
(val <= gp::Resolution(),"");
det = 1.0e0 / det ;
NewMat.Multiply(det) ;
return NewMat;
}
void gp_Mat::Power (const Standard_Integer N)
{
if (N == 1) { }
else if (N == 0) { SetIdentity() ; }
else if (N == -1) { Invert(); }
else {
if (N < 0) { Invert(); }
Standard_Integer Npower = N;
if (Npower < 0) Npower = - Npower;
Npower--;
gp_Mat Temp = *this;
while (1) {
if (IsOdd(Npower)) Multiply (Temp);
if (Npower == 1) break;
Temp.Multiply (Temp);
Npower>>=1;
}
}
}
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