deVector6.h

Go to the documentation of this file.

/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _deVector6_h
#define _deVector6_h

class deVector6
{
public:
        DE_MATH_API deVector3& operator[](deInt row);
        DE_MATH_API const deVector3& operator[](deInt row) const;
        DE_MATH_API deFloat& elementAt(deInt i);
        DE_MATH_API const deFloat& elementAt(deInt i) const;
        DE_MATH_API void operator=(const deVector6& v);
        DE_MATH_API void zero();
        DE_MATH_API void negate(const deVector6& v);
        DE_MATH_API void add(const deVector6& v1, const deVector6& v2);
        DE_MATH_API void subtract(const deVector6& v1, const deVector6& v2);
        DE_MATH_API void multiply(const deVector6& v, const deFloat s);
        DE_MATH_API void multiply(const deMatrix6& m, const deVector6& v);
        DE_MATH_API void transposedMultiply(const deMatrix6& m, const deVector6& v);
        DE_MATH_API void error(const deTransform& T, const deTransform& Td);
        DE_MATH_API void error(const deFrame &F, const deFrame &Fd);
        DE_MATH_API void operator+=(const deVector6& v);
        DE_MATH_API void operator-=(const deVector6& v);
        DE_MATH_API void operator*=(const deFloat s);
        DE_MATH_API deFloat dot(const deVector6& v) const;
        DE_MATH_API void solve(const deMatrix6& m, const deVector6& y);
        DE_MATH_API void solveSPD(const deMatrix6& m, const deVector6& y);

        //      @{
        // X = [ R 0; dxR R ]
        // Fh = X Fi
        //    = [ R fi ; dxR fi + R ni ]
        DE_MATH_API void xform(const deTransform& t, const deVector6& v);
        // Xt = [ Rt -Rtdx; 0 Rt ]
        // Vi = Xt Vh
        //    = [ Rtvh - Rtdxwh; Rtwh ]
        //    = [ Rt(vh - dxwh); Rtwh ]
        DE_MATH_API void xformT(const deTransform& t, const deVector6& v);
        // Xtinv = [ R dxR; 0 R ]
        // Vi = Xtinv Vh
        //    = [ R vh + dxR wh;  R wh ]
        DE_MATH_API void xformInvT(const deTransform& t, const deVector6& v);
        // Xinv = [ Rt 0; -Rtdx Rt ]
        // Vh = Xinv Vi
        //    = [ Rtvi ; -Rtdxvi + Rtwi ]
        //    = [ Rtvi ; Rt(wi - dxvi) ]
        DE_MATH_API void xformInv(const deTransform& t, const deVector6& v);
        //                            = [ v1 x tmp0 + v0 x tmp1; v1 x tmp1 ]
        DE_MATH_API void crossMultiply(const deVector6& v1, const deVector6& v2);
        //      @}

        void backSub(const deMatrix6& lu, const deVector6& y);
        void backSubSPD(const deMatrix6& lu, const deVector6& y);

private:
        deVector3 _vec3[2];
};

#endif // _deVector6_h

---