Scanline::Scanline(const vector3& origin, const vector3& direction, const vector3& lateral_dir, float timestamp) :
origin(origin), direction(direction), lateral_dir(lateral_dir), timestamp(timestamp) {
elevational_dir = lateral_dir.cross(direction);
// TODO: Should all vectors be normalized here?
if (!is_orthogonal()) throw std::runtime_error("Invalid Scanline: Not orthogonal unit vectors");
if (!is_normalized()) throw std::runtime_error("Invalid Scanline: Not unit length vectors");
}
bool mat44::invert()
{
if (is_orthogonal())
{
transpose();
return true;
}
float det = determinant();
if (!fequal(det, 0.0f))
{
det = 1.0f / det;
mat44 copy(*this);
//to-do det_impl is calculated above in determinant().
//try to gcd
m[0][0] = +determinant_impl(copy._11, copy._12, copy._13, copy._21, copy._22, copy._23, copy._31, copy._32, copy._33) * det;
m[1][0] = -determinant_impl(copy._10, copy._12, copy._13, copy._20, copy._22, copy._23, copy._30, copy._32, copy._33) * det;
m[2][0] = +determinant_impl(copy._10, copy._11, copy._13, copy._20, copy._21, copy._23, copy._30, copy._31, copy._33) * det;
m[3][0] = -determinant_impl(copy._10, copy._11, copy._12, copy._20, copy._21, copy._22, copy._30, copy._31, copy._32) * det;
m[0][1] = -determinant_impl(copy._01, copy._02, copy._03, copy._21, copy._22, copy._23, copy._31, copy._32, copy._33) * det;
m[1][1] = +determinant_impl(copy._00, copy._02, copy._03, copy._20, copy._22, copy._23, copy._30, copy._32, copy._33) * det;
m[2][1] = -determinant_impl(copy._00, copy._01, copy._03, copy._20, copy._21, copy._23, copy._30, copy._31, copy._33) * det;
m[3][1] = +determinant_impl(copy._00, copy._01, copy._02, copy._20, copy._21, copy._22, copy._30, copy._31, copy._32) * det;
m[0][2] = +determinant_impl(copy._01, copy._02, copy._03, copy._11, copy._12, copy._13, copy._31, copy._32, copy._33) * det;
m[1][2] = -determinant_impl(copy._00, copy._02, copy._03, copy._10, copy._12, copy._13, copy._30, copy._32, copy._33) * det;
m[2][2] = +determinant_impl(copy._00, copy._01, copy._03, copy._10, copy._11, copy._13, copy._30, copy._31, copy._33) * det;
m[3][2] = -determinant_impl(copy._00, copy._01, copy._02, copy._10, copy._11, copy._12, copy._30, copy._31, copy._32) * det;
m[0][3] = -determinant_impl(copy._01, copy._02, copy._03, copy._11, copy._12, copy._13, copy._21, copy._22, copy._23) * det;
m[1][3] = +determinant_impl(copy._00, copy._02, copy._03, copy._10, copy._12, copy._13, copy._20, copy._22, copy._23) * det;
m[2][3] = -determinant_impl(copy._00, copy._01, copy._03, copy._10, copy._11, copy._13, copy._20, copy._21, copy._23) * det;
m[3][3] = +determinant_impl(copy._00, copy._01, copy._02, copy._10, copy._11, copy._12, copy._20, copy._21, copy._22) * det;
return true;
}
return false;
}
bool mat22::invert()
{
if (is_orthogonal())
{
transpose();
return true;
}
float det = determinant();
if (!fequal(det, 0.0f))
{
//calc adjoint matrix
swap(this->m[0][0], this->m[1][1]);
this->m[0][1] = -this->m[0][1];
this->m[1][0] = -this->m[1][0];
*this *= 1.0f / det;
return true;
}
return false;
}
bool Basis::is_rotation() const {
return Math::isequal_approx(determinant(), 1) && is_orthogonal();
}
bool Basis::is_rotation() const {
return Math::is_equal_approx(determinant(), 1, UNIT_EPSILON) && is_orthogonal();
}
bool is_orthogonal( const matrix<T,N,A>& m )
{
return is_orthogonal( m, [](const T v){ return v == T(0); } );
}
bool Scanline::is_valid() const {
return (is_orthogonal() && is_normalized());
}
