PIMathMatrixT remove scale and rotate funcs

libs/main/math/pimathmatrix.h

@@ -31,12 +31,9 @@
 
 /// Matrix templated
 
-#define PIMM_FOR(r, c) for (uint c = 0; c < Cols; ++c) { for (uint r = 0; r < Rows; ++r) {
+#define PIMM_FOR for (uint r = 0; r < Rows; ++r) for (uint c = 0; c < Cols; ++c)
-#define PIMM_FOR_WB(r, c) for (uint c = 0; c < Cols; ++c) for (uint r = 0; r < Rows; ++r) // without brakes
+#define PIMM_FOR_C for (uint i = 0; i < Cols; ++i)
-#define PIMM_FOR_I(r, c) for (uint r = 0; r < Rows; ++r) { for (uint c = 0; c < Cols; ++c) {
+#define PIMM_FOR_R for (uint i = 0; i < Rows; ++i)
-#define PIMM_FOR_I_WB(r, c) for (uint r = 0; r < Rows; ++r) for (uint c = 0; c < Cols; ++c) // without brakes
-#define PIMM_FOR_C(v) for (uint v = 0; v < Cols; ++v)
-#define PIMM_FOR_R(v) for (uint v = 0; v < Rows; ++v)
 
 #pragma pack(push, 1)
 
@@ -71,7 +68,16 @@ public:
 	PIMathMatrixT(const PIVector<Type> &val) {
 		resize(Rows, Cols);
 		int i = 0;
-		PIMM_FOR_I_WB(r, c) m[r][c] = val[i++];
+		PIMM_FOR m[r][c] = val[i++];
+	}
+
+	/**
+	* @brief Contructs PIMathMatrixT from C++11 initializer list
+	*/
+	PIMathMatrixT(std::initializer_list<Type> init_list) {
+		assert(Rows*Cols == init_list.size());
+		int i = 0;
+		PIMM_FOR m[r][c] = init_list.begin()[i++];
 	}
 
 	/**
@@ -81,7 +87,7 @@ public:
 	*/
 	static _CMatrix identity() {
 		_CMatrix tm = _CMatrix();
-		PIMM_FOR_WB(r, c) tm.m[r][c] = (c == r ? Type(1) : Type(0));
+		PIMM_FOR tm.m[r][c] = (c == r ? Type(1) : Type(0));
 		return tm;
 	}
 
@@ -93,73 +99,10 @@ public:
 	*/
 	static _CMatrix filled(const Type &v) {
 		_CMatrix tm;
-		PIMM_FOR_WB(r, c) tm.m[r][c] = v;
+		PIMM_FOR tm.m[r][c] = v;
 		return tm;
 	}
 
-	/**
-	* @brief Rotation the matrix by an "angle". Works only with 2x2 matrix,
-	* else return default construction of PIMathMatrixT
-	*
-	* @param angle is the angle of rotation of the matrix
-	* @return rotated matrix
-	*/
-	static _CMatrix rotation(double angle) { return _CMatrix(); }
-
-	/**
-	* @brief Rotation of the matrix by an "angle" along the X axis. Works only with 3x3 matrix,
-	* else return default construction of PIMathMatrixT
-	*
-	* @param angle is the angle of rotation of the matrix along the X axis
-	* @return rotated matrix
-	*/
-	static _CMatrix rotationX(double angle) { return _CMatrix(); }
-
-	/**
-	* @brief Rotation of the matrix by an "angle" along the Y axis. Works only with 3x3 matrix,
-	* else return default construction of PIMathMatrixT
-	*
-	* @param angle is the angle of rotation of the matrix along the Y axis
-	* @return rotated matrix
-	*/
-	static _CMatrix rotationY(double angle) { return _CMatrix(); }
-
-	/**
-	* @brief Rotation of the matrix by an "angle" along the Z axis. Works only with 3x3 matrix,
-	* else return default construction of PIMathMatrixT
-	*
-	* @param angle is the angle of rotation of the matrix along the Z axis
-	* @return rotated matrix
-	*/
-	static _CMatrix rotationZ(double angle) { return _CMatrix(); }
-
-	/**
-	* @brief Scaling the matrix along the X axis by the value "factor". Works only with 3x3 and 2x2 matrix,
-	* else return default construction of PIMathMatrixT
-	*
-	* @param factor is the value of scaling by X axis
-	* @return rotated matrix
-	*/
-	static _CMatrix scaleX(double factor) { return _CMatrix(); }
-
-	/**
-	* @brief Scaling the matrix along the Y axis by the value "factor". Works only with 3x3 and 2x2 matrix,
-	* else return default construction of PIMathMatrixT
-	*
-	* @param factor is the value of scaling by Y axis
-	* @return rotated matrix
-	*/
-	static _CMatrix scaleY(double factor) { return _CMatrix(); }
-
-	/**
-	* @brief Scaling the matrix along the Z axis by the value "factor". Works only with 3x3 matrix,
-	* else return default construction of PIMathMatrixT
-	*
-	* @param factor is the value of scaling by Z axis
-	* @return rotated matrix
-	*/
-	static _CMatrix scaleZ(double factor) { return _CMatrix(); }
-
 	/**
 	* @brief Method which returns number of columns in matrix
 	*
@@ -183,7 +126,7 @@ public:
 	*/
 	_CMCol col(uint index) {
 		_CMCol tv;
-		PIMM_FOR_R(i) tv[i] = m[i][index];
+		PIMM_FOR_R tv[i] = m[i][index];
 		return tv;
 	}
 
@@ -196,7 +139,7 @@ public:
 	*/
 	_CMRow row(uint index) {
 		_CMRow tv;
-		PIMM_FOR_C(i) tv[i] = m[index][i];
+		PIMM_FOR_C tv[i] = m[index][i];
 		return tv;
 	}
 
@@ -209,7 +152,7 @@ public:
 	* @return matrix type _CMatrix
 	*/
 	_CMatrix &setCol(uint index, const _CMCol &v) {
-		PIMM_FOR_R(i) m[i][index] = v[i];
+		PIMM_FOR_R m[i][index] = v[i];
 		return *this;
 	}
 
@@ -222,7 +165,7 @@ public:
 	* @return matrix type _CMatrix
 	*/
 	_CMatrix &setRow(uint index, const _CMRow &v) {
-		PIMM_FOR_C(i) m[index][i] = v[i];
+		PIMM_FOR_C m[index][i] = v[i];
 		return *this;
 	}
 
@@ -236,7 +179,7 @@ public:
 	*/
 	_CMatrix &swapRows(uint r0, uint r1) {
 		Type t;
-		PIMM_FOR_C(i) {
+		PIMM_FOR_C {
 			t = m[r0][i];
 			m[r0][i] = m[r1][i];
 			m[r1][i] = t;
@@ -254,7 +197,7 @@ public:
 	*/
 	_CMatrix &swapCols(uint c0, uint c1) {
 		Type t;
-		PIMM_FOR_R(i) {
+		PIMM_FOR_R {
 			t = m[i][c0];
 			m[i][c0] = m[i][c1];
 			m[i][c1] = t;
@@ -269,7 +212,7 @@ public:
 	* @return filled matrix type _CMatrix
 	*/
 	_CMatrix &fill(const Type &v) {
-		PIMM_FOR_WB(r, c) m[r][c] = v;
+		PIMM_FOR m[r][c] = v;
 		return *this;
 	}
 
@@ -286,7 +229,7 @@ public:
 	* @return true if matrix is identitied, else false
 	*/
 	bool isIdentity() const {
-		PIMM_FOR_WB(r, c) if ((c == r) ? m[r][c] != Type(1) : m[r][c] != Type(0)) return false;
+		PIMM_FOR if ((c == r) ? m[r][c] != Type(1) : m[r][c] != Type(0)) return false;
 		return true;
 	}
 
@@ -296,7 +239,7 @@ public:
 	* @return true if matrix is null, else false
 	*/
 	bool isNull() const {
-		PIMM_FOR_WB(r, c) if (m[r][c] != Type(0)) return false;
+		PIMM_FOR if (m[r][c] != Type(0)) return false;
 		return true;
 	}
 
@@ -354,7 +297,7 @@ public:
 	* @return if matrices are equal true, else false
 	*/
 	bool operator==(const _CMatrix &sm) const {
-		PIMM_FOR_WB(r, c) if (m[r][c] != sm.m[r][c]) return false;
+		PIMM_FOR if (m[r][c] != sm.m[r][c]) return false;
 		return true;
 	}
 
@@ -371,28 +314,28 @@ public:
 	*
 	* @param sm matrix for the addition assigment
 	*/
-	void operator+=(const _CMatrix &sm) { PIMM_FOR_WB(r, c) m[r][c] += sm.m[r][c]; }
+	void operator+=(const _CMatrix &sm) { PIMM_FOR m[r][c] += sm.m[r][c]; }
 
 	/**
 	* @brief Subtraction assignment with matrix "sm"
 	*
 	* @param sm matrix for the subtraction assigment
 	*/
-	void operator-=(const _CMatrix &sm) { PIMM_FOR_WB(r, c) m[r][c] -= sm.m[r][c]; }
+	void operator-=(const _CMatrix &sm) { PIMM_FOR m[r][c] -= sm.m[r][c]; }
 
 	/**
 	* @brief Multiplication assignment with value "v"
 	*
 	* @param v value for the multiplication assigment
 	*/
-	void operator*=(const Type &v) { PIMM_FOR_WB(r, c) m[r][c] *= v; }
+	void operator*=(const Type &v) { PIMM_FOR m[r][c] *= v; }
 
 	/**
 	* @brief Division assignment with value "v"
 	*
 	* @param v value for the division assigment
 	*/
-	void operator/=(const Type &v) { PIMM_FOR_WB(r, c) m[r][c] /= v; }
+	void operator/=(const Type &v) { PIMM_FOR m[r][c] /= v; }
 
 	/**
 	* @brief Matrix substraction
@@ -401,7 +344,7 @@ public:
 	*/
 	_CMatrix operator-() const {
 		_CMatrix tm;
-		PIMM_FOR_WB(r, c) tm.m[r][c] = -m[r][c];
+		PIMM_FOR tm.m[r][c] = -m[r][c];
 		return tm;
 	}
 
@@ -413,7 +356,7 @@ public:
 	*/
 	_CMatrix operator+(const _CMatrix &sm) const {
 		_CMatrix tm = _CMatrix(*this);
-		PIMM_FOR_WB(r, c) tm.m[r][c] += sm.m[r][c];
+		PIMM_FOR tm.m[r][c] += sm.m[r][c];
 		return tm;
 	}
 
@@ -425,7 +368,7 @@ public:
 	*/
 	_CMatrix operator-(const _CMatrix &sm) const {
 		_CMatrix tm = _CMatrix(*this);
-		PIMM_FOR_WB(r, c) tm.m[r][c] -= sm.m[r][c];
+		PIMM_FOR tm.m[r][c] -= sm.m[r][c];
 		return tm;
 	}
 
@@ -437,7 +380,7 @@ public:
 	*/
 	_CMatrix operator*(const Type &v) const {
 		_CMatrix tm = _CMatrix(*this);
-		PIMM_FOR_WB(r, c) tm.m[r][c] *= v;
+		PIMM_FOR tm.m[r][c] *= v;
 		return tm;
 	}
 
@@ -449,7 +392,7 @@ public:
 	*/
 	_CMatrix operator/(const Type &v) const {
 		_CMatrix tm = _CMatrix(*this);
-		PIMM_FOR_WB(r, c) tm.m[r][c] /= v;
+		PIMM_FOR tm.m[r][c] /= v;
 		return tm;
 	}
 
@@ -467,10 +410,7 @@ public:
 		if (ok) *ok = k;
 		if (!k) return ret;
 		ret = Type(1);
-		for (uint c = 0; c < Cols; ++c)
+		PIMM_FOR if (r == c) ret *= m[r][c];
-			for (uint r = 0; r < Rows; ++r)
-				if (r == c)
-					ret *= m[r][c];
 		return ret;
 	}
 
@@ -590,7 +530,7 @@ public:
 	*/
 	_CMatrixI transposed() const {
 		_CMatrixI tm;
-		PIMM_FOR_WB(r, c) tm[c][r] = m[r][c];
+		PIMM_FOR tm[c][r] = m[r][c];
 		return tm;
 	}
 
@@ -598,7 +538,7 @@ private:
 	void resize(uint rows_, uint cols_, const Type &new_value = Type()) {
 		r_ = rows_;
 		c_ = cols_;
-		PIMM_FOR_WB(r, c) m[r][c] = new_value;
+		PIMM_FOR m[r][c] = new_value;
 	}
 
 	int c_, r_;
@@ -609,92 +549,22 @@ private:
 #pragma pack(pop)
 
 
-template<>
-inline PIMathMatrixT<2u, 2u> PIMathMatrixT<2u, 2u>::rotation(double angle) {
-	double c = cos(angle), s = sin(angle);
-	PIMathMatrixT<2u, 2u> tm;
-	tm[0][0] = tm[1][1] = c;
-	tm[0][1] = -s;
-	tm[1][0] = s;
-	return tm;
-}
 
-template<>
-inline PIMathMatrixT<2u, 2u> PIMathMatrixT<2u, 2u>::scaleX(double factor) {
-	PIMathMatrixT<2u, 2u> tm;
-	tm[0][0] = factor;
-	tm[1][1] = 1.;
-	return tm;
-}
-
-template<>
-inline PIMathMatrixT<2u, 2u> PIMathMatrixT<2u, 2u>::scaleY(double factor) {
-	PIMathMatrixT<2u, 2u> tm;
-	tm[0][0] = 1.;
-	tm[1][1] = factor;
-	return tm;
-}
-
-template<>
-inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::rotationX(double angle) {
-	double c = cos(angle), s = sin(angle);
-	PIMathMatrixT<3u, 3u> tm;
-	tm[0][0] = 1.;
-	tm[1][1] = tm[2][2] = c;
-	tm[2][1] = s;
-	tm[1][2] = -s;
-	return tm;
-}
-
-template<>
-inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::rotationY(double angle) {
-	double c = cos(angle), s = sin(angle);
-	PIMathMatrixT<3u, 3u> tm;
-	tm[1][1] = 1.;
-	tm[0][0] = tm[2][2] = c;
-	tm[2][0] = -s;
-	tm[0][2] = s;
-	return tm;
-}
-
-template<>
-inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::rotationZ(double angle) {
-	double c = cos(angle), s = sin(angle);
-	PIMathMatrixT<3u, 3u> tm;
-	tm[2][2] = 1.;
-	tm[0][0] = tm[1][1] = c;
-	tm[1][0] = s;
-	tm[0][1] = -s;
-	return tm;
-}
-
-template<>
-inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::scaleX(double factor) {
-	PIMathMatrixT<3u, 3u> tm;
-	tm[1][1] = tm[2][2] = 1.;
-	tm[0][0] = factor;
-	return tm;
-}
-
-template<>
-inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::scaleY(double factor) {
-	PIMathMatrixT<3u, 3u> tm;
-	tm[0][0] = tm[2][2] = 1.;
-	tm[1][1] = factor;
-	return tm;
-}
-
-template<>
-inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::scaleZ(double factor) {
-	PIMathMatrixT<3u, 3u> tm;
-	tm[0][0] = tm[1][1] = 1.;
-	tm[2][2] = factor;
-	return tm;
-}
 
 #ifdef PIP_STD_IOSTREAM
 template<uint Rows, uint Cols, typename Type>
-inline std::ostream & operator <<(std::ostream & s, const PIMathMatrixT<Rows, Cols, Type> & m) {s << "{"; PIMM_FOR_I(r, c) s << m[r][c]; if (c < Cols - 1 || r < Rows - 1) s << ", ";} if (r < Rows - 1) s << std::endl << " ";} s << "}"; return s;}
+inline std::ostream & operator <<(std::ostream & s, const PIMathMatrixT<Rows, Cols, Type> & m) {
+	s << "{";
+	for (uint r = 0; r < Rows; ++r) {
+		for (uint c = 0; c < Cols; ++c) {
+			s << m[r][c];
+			if (c < Cols - 1 || r < Rows - 1) s << ", ";
+		}
+		if (r < Rows - 1) s << std::endl << " ";
+	}
+	s << "}";
+	return s;
+}
 #endif
 
 /**
@@ -707,9 +577,13 @@ inline std::ostream & operator <<(std::ostream & s, const PIMathMatrixT<Rows, Co
 template<uint Rows, uint Cols, typename Type>
 inline PICout operator<<(PICout s, const PIMathMatrixT<Rows, Cols, Type> &m) {
 	s << "{";
-	PIMM_FOR_I(r, c) s << m[r][c];
+	for (uint r = 0; r < Rows; ++r) {
-			if (c < Cols - 1 || r < Rows - 1) s << ", "; }
+		for (uint c = 0; c < Cols; ++c) {
-		if (r < Rows - 1) s << PICoutManipulators::NewLine << " "; }
+			s << m[r][c];
+			if (c < Cols - 1 || r < Rows - 1) s << ", ";
+		}
+		if (r < Rows - 1) s << PICoutManipulators::NewLine << " ";
+	}
 	s << "}";
 	return s;
 }
@@ -804,9 +678,6 @@ template<typename Type>
 class PIMathMatrix;
 
 #undef PIMM_FOR
-#undef PIMM_FOR_WB
-#undef PIMM_FOR_I
-#undef PIMM_FOR_I_WB
 #undef PIMM_FOR_C
 #undef PIMM_FOR_R
 

libs/main/math/piquaternion.cpp

@@ -96,16 +96,6 @@ void PIQuaternion::normalize() {
 }
 
 
-PIMathMatrixT44d PIQuaternion::makeMatrix() const {
-	PIMathMatrixT44d ret;
-	ret[0][0] =  q[0]; ret[0][1] = -q[1]; ret[0][2] = -q[2]; ret[0][3] = -q[3];
-	ret[1][0] =  q[1]; ret[1][1] =  q[0]; ret[1][2] = -q[3]; ret[1][3] =  q[2];
-	ret[2][0] =  q[2]; ret[2][1] =  q[3]; ret[2][2] =  q[0]; ret[2][3] = -q[1];
-	ret[3][0] =  q[3]; ret[3][1] = -q[2]; ret[3][2] =  q[1]; ret[3][3] =  q[0];
-	return ret;
-}
-
-
 PIQuaternion PIQuaternion::fromEyler(double ax, double ay, double az) {
 	PIQuaternion q_heading;
 	PIQuaternion q_pinch;

libs/main/math/piquaternion.h

@@ -52,9 +52,6 @@ public:
 
 protected:
 	double q[4];
-	PIMathMatrixT44d makeMatrix() const;
-	
-	
 };
 
 PIP_EXPORT PIQuaternion operator *(const double & a, const PIQuaternion & q);