---

MathUtilities.h

Go to the documentation of this file.

//
//    Title     : MathUtilities.h
//    Project     : OSCAR Version 2.0
//    Created     : 1/12/1996
//    Author      : Chetan Kapoor and Kevin Rackers
//      Platforms       : All
//      Copyright       : Copyright The University of Texas at Austin, 2002. All rights reserved.
//
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//
//    Purpose     : Miscellaneous functions for use with Math stuff
//-----------------------------------------------------------------------------
//
//    $Revisions$
//
//    $Log: MathUtilities.h,v $
//    Revision 1.17  2005/03/14 22:04:19  pmarch
//    Added to namespace OSCAR and removed "RR" from front of class names.
//
//    Revision 1.16  2004/07/29 20:45:21  chetan
//    Added extern to all stand alone functions declared in MathUtilities.h and defined in MathUtilities.C
//
//    Revision 1.15  2004/06/08 23:00:04  chetan
//    Performance improvements and better error handling
//
//    Revision 1.14  2004/05/26 20:01:59  pmarch
//    Added /defgroup and /ingroup tags.
//
//    Revision 1.13  2004/05/12 13:49:03  eswint
//    - Corrected the Dot() function to take const references instead of objects
//
//    Revision 1.12  2004/04/05 22:01:23  eswint
//    - Added an operator*(Xform,Vector3) that returns an Vector3
//    - Added a Multiply(Xform lhs, Vector3 rhs, Vector3 result)
//
//    Revision 1.11  2004/01/26 20:54:33  pmarch
//    Fixed documentation errors as reported by Doxygen.
//
//    Revision 1.10  2003/09/09 17:13:10  eswint
//    - Changed #include "Math/..." to #include "..."
//
//    Revision 1.9  2003/09/02 20:30:09  eswint
//    - Moved multiplication operations between matrices and vectors into their respective classes
//
//    Revision 1.8  2003/08/26 22:25:37  eswint
//    - Moved binary operator* for quaternions into class
//
//    Revision 1.7  2003/08/25 20:29:06  eswint
//    - Defined binary operator* for VectorNumeric with scalar as left hand argument
//
//    Revision 1.6  2003/08/21 22:02:43  eswint
//    - Removed VectorNumeric operators +,- since VC 6 doesn't support templates enough to obtain desired behavoir
//
//    Revision 1.5  2003/08/21 19:05:53  eswint
//    - Clarified the VectorNumeric operator+, operator- comments
//
//    Revision 1.4  2003/08/21 18:17:57  mtisius
//    Corrected operator+ and operator- methods and added operator/ to VectorNumeric
//
//    Revision 1.3  2003/08/19 18:22:46  eswint
//    -Cleaned up commenting
//
//    Revision 1.2  2003/08/19 18:09:29  eswint
//    - Added Orthog method to VectorNumeric to orthogonalize function parameter against calling object
//    - Moved Norm, Normalize, and Unit from Vector3 to VectorNumeric
//
//    Revision 1.1  2003/08/18 15:23:35  eswint
//    Initial Commit
//
//
#ifndef MathUtilities_hpp
#define MathUtilities_hpp

#include "Array.h"
#include "Matrix.h"
#include "Quaternion.h"
#include "Vector.h"
#include "Vector3.h"

namespace OSCAR {

  extern Vector GetRow(unsigned int row, const Matrix& m);

  extern Vector GetCol(unsigned int col, const Matrix& m);

  extern void GetRow(Vector& result, unsigned int row, const Matrix& m);

  extern void GetCol(Vector& result, unsigned int col, const Matrix& m);

  extern Vector3 Cross3(const Vector3& v1, const Vector3& v2);

  extern Vector3 Cross3Unit(const Vector3& v1, const Vector3& v2);

  extern Matrix operator*(double a,const Matrix& m);

  extern Vector3 operator*(const Xform& lhs, const Vector3& rhs);

  extern void Multiply(const Xform& lhs, const Vector3& rhs, Vector3& result);


  template <class Type>
  VectorNumeric<Type> operator*(Type a,const VectorNumeric<Type>& v);

  template <class To, class From>
  To Convert(const From& f);

  template <class Type>
  Type Dot(const VectorNumeric<Type>& v1, const VectorNumeric<Type>& v2);

  #include "MathUtilities.ipp"

}

#endif /* MathUtilities_hpp */

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