OsgMatrixUtil.h

/*
* Delta3D Open Source Game and Simulation Engine
* Copyright (C) 2004-2005 MOVES Institute
*
* This library is free software; you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by the Free
* Software Foundation; either version 2.1 of the License, or (at your option)
* any later version.
*
* This library 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 Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/

#pragma once

#include <osg/Matrix>
#include <osg/Vec3>
#include <osg/Vec4>

namespace OsgAnimatSim
{
   class ANIMAT_OSG_PORT OsgMatrixUtil
   {
   public:

      virtual osg::Matrix SetupMatrix(CStdFPoint &localPos, CStdFPoint &localRot);
      virtual CStdFPoint EulerRotationFromMatrix(osg::Matrix osgMT);

      static CStdFPoint EulerRotationFromMatrix_Static(osg::Matrix osgMT);

      static void Print( const osg::Matrix& matrix );
      static void Print( const osg::Vec3& vec );
      static void Print( const osg::Vec4& vec );

      static float ClampUnity( float x );

      //@param dest: matrix to store result
      //@param src: matrix to transpose
      static void Transpose( osg::Matrix& dest, const osg::Matrix& src );

      /*
         NOTE:  We are ROW MAJOR so a column doesnt mean anything to us
         unfortunately the old implementation of Get/Set Row and Get/Set Column
         were reversed
         -I have commented out Get/Set Column to enforce ppl to change that call
         to Get/Set Row
      */

      //static osg::Vec3 GetColumn3( const osg::Matrix& matrix, int column );
      //static osg::Vec4 GetColumn4( const osg::Matrix& matrix, int column );

      static osg::Vec3 GetRow3( const osg::Matrix& matrix, int row );
      static osg::Vec4 GetRow4( const osg::Matrix& matrix, int row );

      //static void SetColumn( osg::Matrix& matrix, const osg::Vec3& vec, int column );
      //static void SetColumn( osg::Matrix& matrix, const osg::Vec4& vec, int column );

      static void SetRow( osg::Matrix& matrix, const osg::Vec3& vec, int row );
      static void SetRow( osg::Matrix& matrix, const osg::Vec4& vec, int row );

      static void HprToMatrix( osg::Matrix& rotation, const osg::Vec3& hpr );

      static void PositionAndHprToMatrix( osg::Matrix& rotation, const osg::Vec3& xyz, const osg::Vec3& hpr );

      static void PositionAndHprRadToMatrix( osg::Matrix& rotation, const osg::Vec3& xyz, const osg::Vec3& hpr );

      static void MatrixToHpr( osg::Vec3& hpr, const osg::Matrix& rotation );

      static void MatrixToHprRad(osg::Vec3& hpr, const osg::Matrix& rotation);

      static void MatrixToHprAndPosition( osg::Vec3& xyz, osg::Vec3& hpr, const osg::Matrix& rotation );

      static void TransformVec3(osg::Vec3& xyz, const osg::Matrix& transformMat);

      static void TransformVec3(osg::Vec3& vec_in, const osg::Vec3& xyz, const osg::Matrix& transformMat);

   };
}