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Base: Simplify Base::Matrix4D

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As discussed in https://forum.freecad.org/viewtopic.php?t=65959 reduce code duplications
This commit is contained in:
wmayer
2025-05-13 13:07:44 +02:00
committed by Ladislav Michl
parent 4634e62867
commit 74a22df884
3 changed files with 190 additions and 61 deletions
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12
src/Base/Matrix.cpp
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@@ -277,13 +277,9 @@ void Matrix4D::rotLine(const Vector3d& vec, double fAngle)
double fsin {};
// set all entries to "0"
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
clMA.dMtrx4D[i][j] = 0;
clMB.dMtrx4D[i][j] = 0;
clMC.dMtrx4D[i][j] = 0;
}
}
clMA.nullify();
clMB.nullify();
clMC.nullify();
// ** normalize the rotation axis
clRotAxis.Normalize();
@@ -623,7 +619,7 @@ void Matrix4D::inverseOrthogonal()
{
Base::Vector3d vec(dMtrx4D[0][3], dMtrx4D[1][3], dMtrx4D[2][3]);
transpose();
vec = this->operator*(vec);
multVec(vec, vec);
dMtrx4D[0][3] = -vec.x;
dMtrx4D[3][0] = 0;
dMtrx4D[1][3] = -vec.y;

67
src/Base/Matrix.h
View File

@@ -239,15 +239,8 @@ private:
inline Matrix4D Matrix4D::operator+(const Matrix4D& mat) const
{
Matrix4D clMat;
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
clMat.dMtrx4D[i][j] = dMtrx4D[i][j] + mat[i][j];
}
}
return clMat;
Matrix4D newMat(*this);
return newMat += mat;
}
inline Matrix4D& Matrix4D::operator+=(const Matrix4D& mat)
@@ -263,15 +256,8 @@ inline Matrix4D& Matrix4D::operator+=(const Matrix4D& mat)
inline Matrix4D Matrix4D::operator-(const Matrix4D& mat) const
{
Matrix4D clMat;
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
clMat.dMtrx4D[i][j] = dMtrx4D[i][j] - mat[i][j];
}
}
return clMat;
Matrix4D newMat(*this);
return newMat -= mat;
}
inline Matrix4D& Matrix4D::operator-=(const Matrix4D& mat)
@@ -287,19 +273,7 @@ inline Matrix4D& Matrix4D::operator-=(const Matrix4D& mat)
inline Matrix4D& Matrix4D::operator*=(const Matrix4D& mat)
{
Matrix4D clMat;
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
clMat.dMtrx4D[i][j] = 0;
for (int e = 0; e < 4; e++) {
clMat.dMtrx4D[i][j] += dMtrx4D[i][e] * mat.dMtrx4D[e][j];
}
}
}
(*this) = clMat;
(*this) = (*this) * mat;
return *this;
}
@@ -336,23 +310,16 @@ inline Matrix4D& Matrix4D::operator=(const Matrix4D& mat)
inline Vector3f Matrix4D::operator*(const Vector3f& vec) const
{
// clang-format off
double sx = static_cast<double>(vec.x);
double sy = static_cast<double>(vec.y);
double sz = static_cast<double>(vec.z);
return Vector3f(static_cast<float>(dMtrx4D[0][0] * sx + dMtrx4D[0][1] * sy + dMtrx4D[0][2] * sz + dMtrx4D[0][3]),
static_cast<float>(dMtrx4D[1][0] * sx + dMtrx4D[1][1] * sy + dMtrx4D[1][2] * sz + dMtrx4D[1][3]),
static_cast<float>(dMtrx4D[2][0] * sx + dMtrx4D[2][1] * sy + dMtrx4D[2][2] * sz + dMtrx4D[2][3]));
// clang-format on
Vector3f dst;
multVec(vec, dst);
return dst;
}
inline Vector3d Matrix4D::operator*(const Vector3d& vec) const
{
// clang-format off
return Vector3d((dMtrx4D[0][0] * vec.x + dMtrx4D[0][1] * vec.y + dMtrx4D[0][2] * vec.z + dMtrx4D[0][3]),
(dMtrx4D[1][0] * vec.x + dMtrx4D[1][1] * vec.y + dMtrx4D[1][2] * vec.z + dMtrx4D[1][3]),
(dMtrx4D[2][0] * vec.x + dMtrx4D[2][1] * vec.y + dMtrx4D[2][2] * vec.z + dMtrx4D[2][3]));
// clang-format on
Vector3d dst;
multVec(vec, dst);
return dst;
}
inline void Matrix4D::multVec(const Vector3d& src, Vector3d& dst) const
@@ -379,14 +346,8 @@ inline void Matrix4D::multVec(const Vector3f& src, Vector3f& dst) const
inline Matrix4D Matrix4D::operator*(double scalar) const
{
Matrix4D matrix;
for (unsigned int i = 0; i < 4; i++) {
for (unsigned int j = 0; j < 4; j++) {
matrix.dMtrx4D[i][j] = dMtrx4D[i][j] * scalar;
}
}
return matrix;
Matrix4D newMat(*this);
return newMat *= scalar;
}
inline Matrix4D& Matrix4D::operator*=(double scalar)
@@ -421,7 +382,7 @@ inline bool Matrix4D::operator!=(const Matrix4D& mat) const
inline Vector3f& operator*=(Vector3f& vec, const Matrix4D& mat)
{
vec = mat * vec;
mat.multVec(vec, vec);
return vec;
}