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start to replace old C-style casts with static_cast or reinterpret_cast, avoid implicit casts

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wmayer
2019-09-16 17:59:18 +02:00
parent 0aaa43a303
commit 52916175ed
10 changed files with 136 additions and 245 deletions
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222
src/Base/Matrix.cpp
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@@ -30,6 +30,7 @@
#include "Matrix.h"
#include "Converter.h"
using namespace Base;
@@ -43,10 +44,22 @@ Matrix4D::Matrix4D (float a11, float a12, float a13, float a14,
float a31, float a32, float a33, float a34,
float a41, float a42, float a43, float a44 )
{
dMtrx4D[0][0] = a11; dMtrx4D[0][1] = a12; dMtrx4D[0][2] = a13; dMtrx4D[0][3] = a14;
dMtrx4D[1][0] = a21; dMtrx4D[1][1] = a22; dMtrx4D[1][2] = a23; dMtrx4D[1][3] = a24;
dMtrx4D[2][0] = a31; dMtrx4D[2][1] = a32; dMtrx4D[2][2] = a33; dMtrx4D[2][3] = a34;
dMtrx4D[3][0] = a41; dMtrx4D[3][1] = a42; dMtrx4D[3][2] = a43; dMtrx4D[3][3] = a44;
dMtrx4D[0][0] = static_cast<double>(a11);
dMtrx4D[0][1] = static_cast<double>(a12);
dMtrx4D[0][2] = static_cast<double>(a13);
dMtrx4D[0][3] = static_cast<double>(a14);
dMtrx4D[1][0] = static_cast<double>(a21);
dMtrx4D[1][1] = static_cast<double>(a22);
dMtrx4D[1][2] = static_cast<double>(a23);
dMtrx4D[1][3] = static_cast<double>(a24);
dMtrx4D[2][0] = static_cast<double>(a31);
dMtrx4D[2][1] = static_cast<double>(a32);
dMtrx4D[2][2] = static_cast<double>(a33);
dMtrx4D[2][3] = static_cast<double>(a34);
dMtrx4D[3][0] = static_cast<double>(a41);
dMtrx4D[3][1] = static_cast<double>(a42);
dMtrx4D[3][2] = static_cast<double>(a43);
dMtrx4D[3][3] = static_cast<double>(a44);
}
Matrix4D::Matrix4D (double a11, double a12, double a13, double a14,
@@ -114,9 +127,7 @@ double Matrix4D::determinant() const
void Matrix4D::move (const Vector3f& rclVct)
{
dMtrx4D[0][3] += rclVct.x;
dMtrx4D[1][3] += rclVct.y;
dMtrx4D[2][3] += rclVct.z;
move(convertTo<Vector3d>(rclVct));
}
void Matrix4D::move (const Vector3d& rclVct)
@@ -128,12 +139,7 @@ void Matrix4D::move (const Vector3d& rclVct)
void Matrix4D::scale (const Vector3f& rclVct)
{
Matrix4D clMat;
clMat.dMtrx4D[0][0] = rclVct.x;
clMat.dMtrx4D[1][1] = rclVct.y;
clMat.dMtrx4D[2][2] = rclVct.z;
(*this) = clMat * (*this);
scale(convertTo<Vector3d>(rclVct));
}
void Matrix4D::scale (const Vector3d& rclVct)
@@ -242,8 +248,8 @@ void Matrix4D::rotLine(const Vector3d& rclVct, double fAngle)
void Matrix4D::rotLine(const Vector3f& rclVct, float fAngle)
{
Vector3d tmp(rclVct.x,rclVct.y,rclVct.z);
rotLine(tmp,fAngle);
Vector3d tmp = convertTo<Vector3d>(rclVct);
rotLine(tmp, static_cast<double>(fAngle));
}
void Matrix4D::rotLine(const Vector3d& rclBase, const Vector3d& rclDir, double fAngle)
@@ -255,9 +261,9 @@ void Matrix4D::rotLine(const Vector3d& rclBase, const Vector3d& rclDir, double f
void Matrix4D::rotLine(const Vector3f& rclBase, const Vector3f& rclDir, float fAngle)
{
Vector3d pnt(rclBase.x,rclBase.y,rclBase.z);
Vector3d dir(rclDir.x,rclDir.y,rclDir.z);
rotLine(pnt,dir,fAngle);
Vector3d pnt = convertTo<Vector3d>(rclBase);
Vector3d dir = convertTo<Vector3d>(rclDir);
rotLine(pnt,dir,static_cast<double>(fAngle));
}
/**
@@ -273,129 +279,20 @@ void Matrix4D::rotLine(const Vector3f& rclBase, const Vector3f& rclDir, float fA
*/
bool Matrix4D::toAxisAngle (Vector3f& rclBase, Vector3f& rclDir, float& rfAngle, float& fTranslation) const
{
// First check if the 3x3 submatrix is orthogonal
for ( int i=0; i<3; i++ ) {
// length must be one
if ( fabs(dMtrx4D[0][i]*dMtrx4D[0][i]+dMtrx4D[1][i]*dMtrx4D[1][i]+dMtrx4D[2][i]*dMtrx4D[2][i]-1.0) > 0.01 )
return false;
// scalar product with other rows must be zero
if ( fabs(dMtrx4D[0][i]*dMtrx4D[0][(i+1)%3]+dMtrx4D[1][i]*dMtrx4D[1][(i+1)%3]+dMtrx4D[2][i]*dMtrx4D[2][(i+1)%3]) > 0.01 )
return false;
}
Vector3d pnt = convertTo<Vector3d>(rclBase);
Vector3d dir = convertTo<Vector3d>(rclDir);
double dAngle = static_cast<double>(rfAngle);
double dTranslation = static_cast<double>(fTranslation);
// Okay, the 3x3 matrix is orthogonal.
// Note: The section to get the rotation axis and angle was taken from WildMagic Library.
//
// Let (x,y,z) be the unit-length axis and let A be an angle of rotation.
// The rotation matrix is R = I + sin(A)*P + (1-cos(A))*P^2 where
// I is the identity and
//
// +- -+
// P = | 0 -z +y |
// | +z 0 -x |
// | -y +x 0 |
// +- -+
//
// If A > 0, R represents a counterclockwise rotation about the axis in
// the sense of looking from the tip of the axis vector towards the
// origin. Some algebra will show that
//
// cos(A) = (trace(R)-1)/2 and R - R^t = 2*sin(A)*P
//
// In the event that A = pi, R-R^t = 0 which prevents us from extracting
// the axis through P. Instead note that R = I+2*P^2 when A = pi, so
// P^2 = (R-I)/2. The diagonal entries of P^2 are x^2-1, y^2-1, and
// z^2-1. We can solve these for axis (x,y,z). Because the angle is pi,
// it does not matter which sign you choose on the square roots.
//
// For more details see also http://www.math.niu.edu/~rusin/known-math/97/rotations
double fTrace = dMtrx4D[0][0] + dMtrx4D[1][1] + dMtrx4D[2][2];
double fCos = 0.5*(fTrace-1.0);
rfAngle = (float)acos(fCos); // in [0,PI]
if ( rfAngle > 0.0f )
{
if ( rfAngle < F_PI )
{
rclDir.x = (float)(dMtrx4D[2][1]-dMtrx4D[1][2]);
rclDir.y = (float)(dMtrx4D[0][2]-dMtrx4D[2][0]);
rclDir.z = (float)(dMtrx4D[1][0]-dMtrx4D[0][1]);
rclDir.Normalize();
bool ok = toAxisAngle(pnt, dir, dAngle, dTranslation);
if (ok) {
rclBase = convertTo<Vector3f>(pnt);
rclDir = convertTo<Vector3f>(dir);
rfAngle = static_cast<float>(dAngle);
fTranslation = static_cast<float>(dTranslation);
}
else
{
// angle is PI
double fHalfInverse;
if ( dMtrx4D[0][0] >= dMtrx4D[1][1] )
{
// r00 >= r11
if ( dMtrx4D[0][0] >= dMtrx4D[2][2] )
{
// r00 is maximum diagonal term
rclDir.x = (float)(0.5*sqrt(dMtrx4D[0][0] - dMtrx4D[1][1] - dMtrx4D[2][2] + 1.0));
fHalfInverse = 0.5/rclDir.x;
rclDir.y = (float)(fHalfInverse*dMtrx4D[0][1]);
rclDir.z = (float)(fHalfInverse*dMtrx4D[0][2]);
}
else
{
// r22 is maximum diagonal term
rclDir.z = (float)(0.5*sqrt(dMtrx4D[2][2] - dMtrx4D[0][0] - dMtrx4D[1][1] + 1.0));
fHalfInverse = 0.5/rclDir.z;
rclDir.x = (float)(fHalfInverse*dMtrx4D[0][2]);
rclDir.y = (float)(fHalfInverse*dMtrx4D[1][2]);
}
}
else
{
// r11 > r00
if ( dMtrx4D[1][1] >= dMtrx4D[2][2] )
{
// r11 is maximum diagonal term
rclDir.y = (float)(0.5*sqrt(dMtrx4D[1][1] - dMtrx4D[0][0] - dMtrx4D[2][2] + 1.0));
fHalfInverse = 0.5/rclDir.y;
rclDir.x = (float)(fHalfInverse*dMtrx4D[0][1]);
rclDir.z = (float)(fHalfInverse*dMtrx4D[1][2]);
}
else
{
// r22 is maximum diagonal term
rclDir.z = (float)(0.5*sqrt(dMtrx4D[2][2] - dMtrx4D[0][0] - dMtrx4D[1][1] + 1.0));
fHalfInverse = 0.5/rclDir.z;
rclDir.x = (float)(fHalfInverse*dMtrx4D[0][2]);
rclDir.y = (float)(fHalfInverse*dMtrx4D[1][2]);
}
}
}
}
else
{
// The angle is 0 and the matrix is the identity. Any axis will
// work, so just use the x-axis.
rclDir.x = 1.0f;
rclDir.y = 0.0f;
rclDir.z = 0.0f;
rclBase.x = 0.0f;
rclBase.y = 0.0f;
rclBase.z = 0.0f;
}
// This is the translation part in axis direction
fTranslation = (float)(dMtrx4D[0][3]*rclDir.x+dMtrx4D[1][3]*rclDir.y+dMtrx4D[2][3]*rclDir.z);
Vector3f cPnt((float)dMtrx4D[0][3],(float)dMtrx4D[1][3],(float)dMtrx4D[2][3]);
cPnt = cPnt - fTranslation * rclDir;
// This is the base point of the rotation axis
if ( rfAngle > 0.0f )
{
double factor = 0.5*(1.0+fTrace)/sin(rfAngle);
rclBase.x = (float)(0.5*(cPnt.x+factor*(rclDir.y*cPnt.z-rclDir.z*cPnt.y)));
rclBase.y = (float)(0.5*(cPnt.y+factor*(rclDir.z*cPnt.x-rclDir.x*cPnt.z)));
rclBase.z = (float)(0.5*(cPnt.z+factor*(rclDir.x*cPnt.y-rclDir.y*cPnt.x)));
}
return true;
return ok;
}
bool Matrix4D::toAxisAngle (Vector3d& rclBase, Vector3d& rclDir, double& rfAngle, double& fTranslation) const
@@ -441,9 +338,9 @@ bool Matrix4D::toAxisAngle (Vector3d& rclBase, Vector3d& rclDir, double& rfAngle
double fCos = 0.5*(fTrace-1.0);
rfAngle = acos(fCos); // in [0,PI]
if ( rfAngle > 0.0f )
if ( rfAngle > 0.0 )
{
if ( rfAngle < F_PI )
if ( rfAngle < D_PI )
{
rclDir.x = (dMtrx4D[2][1]-dMtrx4D[1][2]);
rclDir.y = (dMtrx4D[0][2]-dMtrx4D[2][0]);
@@ -514,7 +411,7 @@ bool Matrix4D::toAxisAngle (Vector3d& rclBase, Vector3d& rclDir, double& rfAngle
cPnt = cPnt - fTranslation * rclDir;
// This is the base point of the rotation axis
if ( rfAngle > 0.0f )
if ( rfAngle > 0.0 )
{
double factor = 0.5*(1.0+fTrace)/sin(rfAngle);
rclBase.x = (0.5*(cPnt.x+factor*(rclDir.y*cPnt.z-rclDir.z*cPnt.y)));
@@ -601,7 +498,7 @@ void Matrix_gauss(Matrix a, Matrix b)
}
indxr[i] = irow;
indxc[i] = icol;
if (a[4*icol+icol] == 0) return;
if (a[4*icol+icol] == 0.0) return;
pivinv = 1.0/a[4*icol+icol];
a[4*icol+icol] = 1.0;
for (l = 0; l < 4; l++)
@@ -820,8 +717,8 @@ std::string Matrix4D::analyse(void) const
trp.transpose();
trp = trp * sub;
bool ortho = true;
for (int i=0; i<4 && ortho; i++) {
for (int j=0; j<4 && ortho; j++) {
for (unsigned short i=0; i<4 && ortho; i++) {
for (unsigned short j=0; j<4 && ortho; j++) {
if (i != j) {
if (fabs(trp[i][j]) > eps) {
ortho = false;
@@ -876,17 +773,7 @@ Matrix4D& Matrix4D::Outer(const Vector3f& rV1, const Vector3f& rV2)
{
setToUnity();
dMtrx4D[0][0] = rV1.x * rV2.x;
dMtrx4D[0][1] = rV1.x * rV2.y;
dMtrx4D[0][2] = rV1.x * rV2.z;
dMtrx4D[1][0] = rV1.y * rV2.x;
dMtrx4D[1][1] = rV1.y * rV2.y;
dMtrx4D[1][2] = rV1.y * rV2.z;
dMtrx4D[2][0] = rV1.z * rV2.x;
dMtrx4D[2][1] = rV1.z * rV2.y;
dMtrx4D[2][2] = rV1.z * rV2.z;
Outer(convertTo<Vector3d>(rV1), convertTo<Vector3d>(rV2));
return *this;
}
@@ -914,17 +801,7 @@ Matrix4D& Matrix4D::Hat(const Vector3f& rV)
{
setToUnity();
dMtrx4D[0][0] = 0.0;
dMtrx4D[0][1] = -rV.z;
dMtrx4D[0][2] = rV.y;
dMtrx4D[1][0] = rV.z;
dMtrx4D[1][1] = 0.0;
dMtrx4D[1][2] = -rV.x;
dMtrx4D[2][0] = -rV.y;
dMtrx4D[2][1] = rV.x;
dMtrx4D[2][2] = 0.0;
Hat(convertTo<Vector3d>(rV));
return *this;
}
@@ -948,24 +825,27 @@ Matrix4D& Matrix4D::Hat(const Vector3d& rV)
return *this;
}
int Matrix4D::hasScale(double tol) const {
int Matrix4D::hasScale(double tol) const
{
// check for uniform scaling
//
// scaling factors are the column vector length. We use square distance and
// ignore the actual scaling signess
//
if(tol == 0.0)
if (tol == 0.0)
tol = 1e-9;
double dx = Vector3d(dMtrx4D[0][0],dMtrx4D[1][0],dMtrx4D[2][0]).Sqr();
double dy = Vector3d(dMtrx4D[0][1],dMtrx4D[1][1],dMtrx4D[2][1]).Sqr();
if(fabs(dx-dy)>tol)
if (fabs(dx-dy) > tol) {
return -1;
}
else {
double dz = Vector3d(dMtrx4D[0][2],dMtrx4D[1][2],dMtrx4D[2][2]).Sqr();
if(fabs(dy-dz)>tol)
if (fabs(dy-dz) > tol)
return -1;
}
if(fabs(dx-1.0)>tol)
if (fabs(dx-1.0) > tol)
return 1;
else
return 0;