METHODPREFIX
Point<ScalarParam,dimensionParam>
ProjectiveTransformationOperationsBase<ScalarParam,dimensionParam>::inverseTransformP(
const Matrix<ScalarParam,dimensionParam+1,dimensionParam+1>& m,
const Point<ScalarParam,dimensionParam>& p)
{
/* Create the extended matrix: */
double temp[dimensionParam+1][dimensionParam+2];
for(int i=0;i<dimensionParam;++i)
{
for(int j=0;j<=dimensionParam;++j)
temp[i][j]=m(i,j);
temp[i][dimensionParam+1]=double(p[i]);
}
for(int j=0;j<=dimensionParam;++j)
temp[dimensionParam][j]=m(dimensionParam,j);
temp[dimensionParam][dimensionParam+1]=ScalarParam(1);
/* Perform Gaussian elimination with column pivoting on the extended matrix: */
gaussElimination<dimensionParam+1,dimensionParam+2>(temp);
/* Return the result point: */
Point<ScalarParam,dimensionParam> result;
temp[dimensionParam][dimensionParam+1]/=temp[dimensionParam][dimensionParam];
for(int i=dimensionParam-1;i>=0;--i)
{
for(int j=i+1;j<=dimensionParam;++j)
temp[i][dimensionParam+1]-=temp[i][j]*temp[j][dimensionParam+1];
temp[i][dimensionParam+1]/=temp[i][i];
result[i]=ScalarParam(temp[i][dimensionParam+1]/temp[dimensionParam][dimensionParam+1]);
}
return result;
}
void calcRadiusPos(ScalarParam latitude,ScalarParam longitude,ScalarParam radius,double scaleFactor,ScalarParam pos[3])
{
double s0=Math::sin(double(latitude));
double c0=Math::cos(double(latitude));
double r=radius*scaleFactor;
double xy=r*c0;
double s1=Math::sin(double(longitude));
double c1=Math::cos(double(longitude));
pos[0]=ScalarParam(xy*c1);
pos[1]=ScalarParam(xy*s1);
pos[2]=ScalarParam(r*s0);
}
namespace Geometry {
/******************************
Static elements of class Point:
******************************/
template <class ScalarParam,int dimensionParam>
const Point<ScalarParam,dimensionParam> Point<ScalarParam,dimensionParam>::origin(ScalarParam(0));
#if !defined(NONSTANDARD_TEMPLATES)
/***************************************************************
Force instantiation of all standard Point classes and functions:
***************************************************************/
template const Point<int,2> Point<int,2>::origin;
template const Point<int,3> Point<int,3>::origin;
template const Point<float,2> Point<float,2>::origin;
template const Point<float,3> Point<float,3>::origin;
template const Point<double,2> Point<double,2>::origin;
template const Point<double,3> Point<double,3>::origin;
#endif
}
void calcDepthPos(ScalarParam latitude,ScalarParam longitude,ScalarParam depth,double scaleFactor,ScalarParam pos[3])
{
/* Constant parameters for geoid formula: */
const double a=6378.14e3; // Equatorial radius in m
const double f=1.0/298.247; // Geoid flattening factor
double s0=Math::sin(double(latitude));
double c0=Math::cos(double(latitude));
double r=(a*(1.0-f*Math::sqr(s0))-depth)*scaleFactor;
double xy=r*c0;
double s1=Math::sin(double(longitude));
double c1=Math::cos(double(longitude));
pos[0]=ScalarParam(xy*c1);
pos[1]=ScalarParam(xy*s1);
pos[2]=ScalarParam(r*s0);
}
void glLoadMatrix(const Geometry::AffineTransformation<ScalarParam,3>& t)
{
/* Copy the transformation coefficients into a temporary array: */
ScalarParam temp[16];
const typename Geometry::AffineTransformation<ScalarParam,3>::Matrix& m=t.getMatrix();
ScalarParam* tPtr=temp;
for(int j=0;j<4;++j)
{
for(int i=0;i<3;++i,++tPtr)
*tPtr=m(i,j);
*tPtr=ScalarParam(0);
++tPtr;
}
temp[15]=ScalarParam(1);
/* Upload the temporary array: */
glLoadMatrix(temp);
}
METHODPREFIX OrthonormalTransformation<ScalarParam,dimensionParam>::OrthonormalTransformation(const RotationTransformation<SourceScalarParam,dimensionParam>& source)
:translation(ScalarParam(0)),rotation(source.getRotation())
{
}
