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mat4x4.cpp
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: mat4x4.cpp *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#include "mat4x4.h"
#include <cstdlib>
using
namespace
std
;
Mat4x4
::
Mat4x4
(){
numrows
=
numcols
=
4
;
}
Mat4x4
::~
Mat4x4
(){
}
Mat4x4
::
Mat4x4
(
const
Mat4x4
&
A
){
numrows
=
numcols
=
4
;
elements
[
0
][
0
]
=
A
.
elements
[
0
][
0
];
elements
[
0
][
1
]
=
A
.
elements
[
0
][
1
];
elements
[
0
][
2
]
=
A
.
elements
[
0
][
2
];
elements
[
0
][
3
]
=
A
.
elements
[
0
][
3
];
elements
[
1
][
0
]
=
A
.
elements
[
1
][
0
];
elements
[
1
][
1
]
=
A
.
elements
[
1
][
1
];
elements
[
1
][
2
]
=
A
.
elements
[
1
][
2
];
elements
[
1
][
3
]
=
A
.
elements
[
1
][
3
];
elements
[
2
][
0
]
=
A
.
elements
[
2
][
0
];
elements
[
2
][
1
]
=
A
.
elements
[
2
][
1
];
elements
[
2
][
2
]
=
A
.
elements
[
2
][
2
];
elements
[
2
][
3
]
=
A
.
elements
[
2
][
3
];
elements
[
3
][
0
]
=
A
.
elements
[
3
][
0
];
elements
[
3
][
1
]
=
A
.
elements
[
3
][
1
];
elements
[
3
][
2
]
=
A
.
elements
[
3
][
2
];
elements
[
3
][
3
]
=
A
.
elements
[
3
][
3
];
}
Mat4x4
::
Mat4x4
(
const
VirtualMatrix
&
A
){
numrows
=
numcols
=
4
;
// error check
if
(
(
A
.
GetNumRows
()
!=
4
)
||
(
A
.
GetNumCols
()
!=
4
)
){
cerr
<<
"illegal matrix size"
<<
endl
;
exit
(
0
);
}
for
(
int
i
=
0
;
i
<
4
;
i
++
)
for
(
int
j
=
0
;
j
<
4
;
j
++
)
elements
[
i
][
j
]
=
A
.
BasicGet
(
i
,
j
);
}
double
&
Mat4x4
::
operator_2int
(
int
i
,
int
j
){
// array access
return
elements
[
i
-
1
][
j
-
1
];
}
double
Mat4x4
::
Get_2int
(
int
i
,
int
j
)
const
{
return
elements
[
i
-
1
][
j
-
1
];
}
void
Mat4x4
::
Set_2int
(
int
i
,
int
j
,
double
value
){
elements
[
i
-
1
][
j
-
1
]
=
value
;
}
double
Mat4x4
::
BasicGet_2int
(
int
i
,
int
j
)
const
{
return
elements
[
i
][
j
];
}
void
Mat4x4
::
BasicSet_2int
(
int
i
,
int
j
,
double
value
){
elements
[
i
][
j
]
=
value
;
}
void
Mat4x4
::
BasicIncrement_2int
(
int
i
,
int
j
,
double
value
){
elements
[
i
][
j
]
+=
value
;
}
void
Mat4x4
::
Const
(
double
value
){
elements
[
0
][
0
]
=
elements
[
0
][
1
]
=
elements
[
0
][
2
]
=
elements
[
0
][
3
]
=
value
;
elements
[
1
][
0
]
=
elements
[
1
][
1
]
=
elements
[
1
][
2
]
=
elements
[
1
][
3
]
=
value
;
elements
[
2
][
0
]
=
elements
[
2
][
1
]
=
elements
[
2
][
2
]
=
elements
[
2
][
3
]
=
value
;
elements
[
3
][
0
]
=
elements
[
3
][
1
]
=
elements
[
3
][
2
]
=
elements
[
3
][
3
]
=
value
;
}
MatrixType
Mat4x4
::
GetType
()
const
{
return
MAT4X4
;
}
istream
&
Mat4x4
::
ReadData
(
istream
&
c
){
//input
for
(
int
i
=
0
;
i
<
4
;
i
++
)
for
(
int
j
=
0
;
j
<
4
;
j
++
)
c
>>
elements
[
i
][
j
];
return
c
;
}
ostream
&
Mat4x4
::
WriteData
(
ostream
&
c
)
const
{
//output
for
(
int
i
=
0
;
i
<
4
;
i
++
)
for
(
int
j
=
0
;
j
<
4
;
j
++
)
c
<<
elements
[
i
][
j
]
<<
' '
;
return
c
;
}
void
Mat4x4
::
AssignVM
(
const
VirtualMatrix
&
A
){
// error check
if
(
(
A
.
GetNumRows
()
!=
4
)
||
(
A
.
GetNumCols
()
!=
4
)
){
cerr
<<
"illegal matrix size"
<<
endl
;
exit
(
0
);
}
for
(
int
i
=
0
;
i
<
numrows
;
i
++
)
for
(
int
j
=
0
;
j
<
numcols
;
j
++
)
elements
[
i
][
j
]
=
A
.
BasicGet
(
i
,
j
);
}
Mat4x4
&
Mat4x4
::
operator
=
(
const
Mat4x4
&
A
){
// assignment operator
elements
[
0
][
0
]
=
A
.
elements
[
0
][
0
];
elements
[
0
][
1
]
=
A
.
elements
[
0
][
1
];
elements
[
0
][
2
]
=
A
.
elements
[
0
][
2
];
elements
[
0
][
3
]
=
A
.
elements
[
0
][
3
];
elements
[
1
][
0
]
=
A
.
elements
[
1
][
0
];
elements
[
1
][
1
]
=
A
.
elements
[
1
][
1
];
elements
[
1
][
2
]
=
A
.
elements
[
1
][
2
];
elements
[
1
][
3
]
=
A
.
elements
[
1
][
3
];
elements
[
2
][
0
]
=
A
.
elements
[
2
][
0
];
elements
[
2
][
1
]
=
A
.
elements
[
2
][
1
];
elements
[
2
][
2
]
=
A
.
elements
[
2
][
2
];
elements
[
2
][
3
]
=
A
.
elements
[
2
][
3
];
elements
[
3
][
0
]
=
A
.
elements
[
3
][
0
];
elements
[
3
][
1
]
=
A
.
elements
[
3
][
1
];
elements
[
3
][
2
]
=
A
.
elements
[
3
][
2
];
elements
[
3
][
3
]
=
A
.
elements
[
3
][
3
];
return
*
this
;
}
Mat4x4
&
Mat4x4
::
operator
=
(
const
VirtualMatrix
&
A
){
// overloaded =
// error check
if
(
(
A
.
GetNumRows
()
!=
4
)
||
(
A
.
GetNumCols
()
!=
4
)
){
cerr
<<
"illegal matrix size"
<<
endl
;
exit
(
0
);
}
for
(
int
i
=
0
;
i
<
numrows
;
i
++
)
for
(
int
j
=
0
;
j
<
numcols
;
j
++
)
elements
[
i
][
j
]
=
A
.
BasicGet
(
i
,
j
);
return
*
this
;
}
Mat4x4
&
Mat4x4
::
operator
*=
(
double
b
){
elements
[
0
][
0
]
*=
b
;
elements
[
0
][
1
]
*=
b
;
elements
[
0
][
2
]
*=
b
;
elements
[
0
][
3
]
*=
b
;
elements
[
1
][
0
]
*=
b
;
elements
[
1
][
1
]
*=
b
;
elements
[
1
][
2
]
*=
b
;
elements
[
1
][
3
]
*=
b
;
elements
[
2
][
0
]
*=
b
;
elements
[
2
][
1
]
*=
b
;
elements
[
2
][
2
]
*=
b
;
elements
[
2
][
3
]
*=
b
;
elements
[
3
][
0
]
*=
b
;
elements
[
3
][
1
]
*=
b
;
elements
[
3
][
2
]
*=
b
;
elements
[
3
][
3
]
*=
b
;
return
*
this
;
}
Mat4x4
&
Mat4x4
::
Identity
(){
elements
[
0
][
0
]
=
1.0
;
elements
[
0
][
1
]
=
0.0
;
elements
[
0
][
2
]
=
0.0
;
elements
[
0
][
3
]
=
0.0
;
elements
[
1
][
0
]
=
0.0
;
elements
[
1
][
1
]
=
1.0
;
elements
[
1
][
2
]
=
0.0
;
elements
[
1
][
3
]
=
0.0
;
elements
[
2
][
0
]
=
0.0
;
elements
[
2
][
1
]
=
0.0
;
elements
[
2
][
2
]
=
1.0
;
elements
[
2
][
3
]
=
0.0
;
elements
[
3
][
0
]
=
0.0
;
elements
[
3
][
1
]
=
0.0
;
elements
[
3
][
2
]
=
0.0
;
elements
[
3
][
3
]
=
1.0
;
return
*
this
;
}
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