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00011 #ifndef __mitkMatrixD_h
00012 #define __mitkMatrixD_h
00013
00014 #include <math.h>
00015 #include "mitkGlobal.h"
00016
00022 class MITK_COMMON_API mitkMatrixD
00023 {
00024 public:
00025 double ele[16];
00026
00027 mitkMatrixD() {}
00028 mitkMatrixD(const mitkMatrixD &m)
00029 {
00030 ele[0] = m.ele[0];
00031 ele[1] = m.ele[1];
00032 ele[2] = m.ele[2];
00033 ele[3] = m.ele[3];
00034 ele[4] = m.ele[4];
00035 ele[5] = m.ele[5];
00036 ele[6] = m.ele[6];
00037 ele[7] = m.ele[7];
00038 ele[8] = m.ele[8];
00039 ele[9] = m.ele[9];
00040 ele[10] = m.ele[10];
00041 ele[11] = m.ele[11];
00042 ele[12] = m.ele[12];
00043 ele[13] = m.ele[13];
00044 ele[14] = m.ele[14];
00045 ele[15] = m.ele[15];
00046 }
00047
00048 mitkMatrixD(double e0, double e1, double e2, double e3,
00049 double e4, double e5, double e6, double e7,
00050 double e8, double e9, double e10, double e11,
00051 double e12, double e13, double e14, double e15)
00052 {
00053 ele[0] = e0;
00054 ele[1] = e1;
00055 ele[2] = e2;
00056 ele[3] = e3;
00057 ele[4] = e4;
00058 ele[5] = e5;
00059 ele[6] = e6;
00060 ele[7] = e7;
00061 ele[8] = e8;
00062 ele[9] = e9;
00063 ele[10] = e10;
00064 ele[11] = e11;
00065 ele[12] = e12;
00066 ele[13] = e13;
00067 ele[14] = e14;
00068 ele[15] = e15;
00069 }
00070
00071 mitkMatrixD& operator = (const mitkMatrixD &m)
00072 {
00073 ele[0] = m.ele[0];
00074 ele[1] = m.ele[1];
00075 ele[2] = m.ele[2];
00076 ele[3] = m.ele[3];
00077 ele[4] = m.ele[4];
00078 ele[5] = m.ele[5];
00079 ele[6] = m.ele[6];
00080 ele[7] = m.ele[7];
00081 ele[8] = m.ele[8];
00082 ele[9] = m.ele[9];
00083 ele[10] = m.ele[10];
00084 ele[11] = m.ele[11];
00085 ele[12] = m.ele[12];
00086 ele[13] = m.ele[13];
00087 ele[14] = m.ele[14];
00088 ele[15] = m.ele[15];
00089 return *this;
00090 }
00091
00092 friend mitkMatrixD operator * (const mitkMatrixD&, const mitkMatrixD&);
00093 friend mitkMatrixD operator + (const mitkMatrixD&, const mitkMatrixD&);
00094 friend mitkMatrixD operator - (const mitkMatrixD&, const mitkMatrixD&);
00095 friend mitkMatrixD operator + (const mitkMatrixD&);
00096 friend mitkMatrixD operator - (const mitkMatrixD&);
00097 friend mitkMatrixD operator * (const mitkMatrixD&, const double);
00098 friend mitkMatrixD operator * (const double, const mitkMatrixD&);
00099
00100 mitkMatrixD& operator *= (const mitkMatrixD &);
00101 mitkMatrixD& operator *= (const double);
00102 mitkMatrixD& operator += (const mitkMatrixD &);
00103 mitkMatrixD& operator -= (const mitkMatrixD &);
00104
00105 operator const double* () const { return ele; }
00106 operator double* () { return ele; }
00107
00111 void Transpose();
00112
00116 double Inverse();
00117
00121 double Determinant();
00122
00126 void Adjoint();
00127
00131 double MinValue();
00132
00136 double MaxValue();
00137
00141 void ZeroMatrix();
00142
00146 void IdentityMatrix();
00147
00151 void TranslateMatrix(const double dx, const double dy, const double dz);
00152
00156 void ScaleMatrix(const double a, const double b, const double c);
00157
00161 void ScaleMatrix(const double a);
00162
00166 void RotateXMatrix(const double angle);
00167
00171 void RotateYMatrix(const double angle);
00172
00176 void RotateZMatrix(const double angle);
00177
00181 void Translate(const double dx, const double dy, const double dz);
00182
00186 void Scale(const double a, const double b, const double c);
00187
00191 void Rotate(const double angle, const double x, const double y, const double z);
00192
00196 void RotateX(const double angle);
00197
00201 void RotateY(const double angle);
00202
00206 void RotateZ(const double angle);
00207 };
00208
00209
00210 class MITK_COMMON_API mitkVectorD
00211 {
00212 public:
00213 double ele[4];
00214
00215 mitkVectorD()
00216 {
00217 ele[0] = 0.0;
00218 ele[1] = 0.0;
00219 ele[2] = 0.0;
00220 ele[3] = 1.0;
00221 }
00222 mitkVectorD(const mitkVectorD &v)
00223 {
00224 ele[0] = v.ele[0];
00225 ele[1] = v.ele[1];
00226 ele[2] = v.ele[2];
00227 ele[3] = v.ele[3];
00228 }
00229
00230 mitkVectorD(const double x, const double y, const double z, const double w = 1.0f)
00231 {
00232 ele[0] = x;
00233 ele[1] = y;
00234 ele[2] = z;
00235 ele[3] = w;
00236 }
00237
00238 mitkVectorD(const double srcVector[4])
00239 {
00240 ele[0] = srcVector[0];
00241 ele[1] = srcVector[1];
00242 ele[2] = srcVector[2];
00243 ele[3] = srcVector[3];
00244 }
00245
00246
00247 operator double* () { return ele; }
00248 operator const double* () const { return ele; }
00249
00250 mitkVectorD& operator = (const mitkVectorD &a)
00251 {
00252 ele[0] = a.ele[0];
00253 ele[1] = a.ele[1];
00254 ele[2] = a.ele[2];
00255 ele[3] = a.ele[3];
00256 return *this;
00257 }
00258
00259 friend mitkVectorD operator * (const mitkVectorD&, const mitkMatrixD&);
00260 friend double operator * (const mitkVectorD &, const mitkVectorD &);
00261 friend mitkVectorD operator % (const mitkVectorD &, const mitkVectorD &);
00262 friend mitkVectorD operator * (const mitkVectorD &, const double);
00263 friend mitkVectorD operator * (const double, const mitkVectorD &);
00264 friend mitkVectorD operator + (const mitkVectorD&);
00265 friend mitkVectorD operator + (const mitkVectorD&, const mitkVectorD&);
00266 friend mitkVectorD operator - (const mitkVectorD&);
00267 friend mitkVectorD operator - (const mitkVectorD&, const mitkVectorD&);
00268 friend mitkVectorD operator ~ (const mitkVectorD&);
00269
00270 mitkVectorD& operator *= (const mitkMatrixD &);
00271 mitkVectorD& operator *= (const double);
00272 mitkVectorD& operator += (const mitkVectorD &);
00273 mitkVectorD& operator -= (const mitkVectorD &);
00274
00275 double Length();
00276 double Length2();
00277 void Normalize();
00278 };
00279
00280 inline void mitkMatrixD::ZeroMatrix()
00281 {
00282 ele[0] = ele[1] = ele[2] = ele[3] = 0.0f;
00283 ele[4] = ele[5] = ele[6] = ele[7] = 0.0f;
00284 ele[8] = ele[9] = ele[10] = ele[11] = 0.0f;
00285 ele[12] = ele[13] = ele[14] = ele[15] = 0.0f;
00286 }
00287
00288 inline void mitkMatrixD::IdentityMatrix()
00289 {
00290 ele[0] = ele[5] = ele[10] = ele[15] = 1.0;
00291 ele[1] = ele[2] = ele[3] = ele[4] = 0.0;
00292 ele[6] = ele[7] = ele[8] = ele[9] = 0.0;
00293 ele[11] = ele[12] = ele[13] = ele[14] = 0.0;
00294 }
00295
00296 inline mitkMatrixD operator * (const mitkMatrixD &A, const mitkMatrixD &B)
00297 {
00298 mitkMatrixD Res;
00299
00300 Res.ele[0] = A.ele[0]*B.ele[0] + A.ele[4]*B.ele[1] + A.ele[8]*B.ele[2] + A.ele[12]*B.ele[3];
00301 Res.ele[1] = A.ele[1]*B.ele[0] + A.ele[5]*B.ele[1] + A.ele[9]*B.ele[2] + A.ele[13]*B.ele[3];
00302 Res.ele[2] = A.ele[2]*B.ele[0] + A.ele[6]*B.ele[1] + A.ele[10]*B.ele[2] + A.ele[14]*B.ele[3];
00303 Res.ele[3] = A.ele[3]*B.ele[0] + A.ele[7]*B.ele[1] + A.ele[11]*B.ele[2] + A.ele[15]*B.ele[3];
00304
00305 Res.ele[4] = A.ele[0]*B.ele[4] + A.ele[4]*B.ele[5] + A.ele[8]*B.ele[6] + A.ele[12]*B.ele[7];
00306 Res.ele[5] = A.ele[1]*B.ele[4] + A.ele[5]*B.ele[5] + A.ele[9]*B.ele[6] + A.ele[13]*B.ele[7];
00307 Res.ele[6] = A.ele[2]*B.ele[4] + A.ele[6]*B.ele[5] + A.ele[10]*B.ele[6] + A.ele[14]*B.ele[7];
00308 Res.ele[7] = A.ele[3]*B.ele[4] + A.ele[7]*B.ele[5] + A.ele[11]*B.ele[6] + A.ele[15]*B.ele[7];
00309
00310 Res.ele[8] = A.ele[0]*B.ele[8] + A.ele[4]*B.ele[9] + A.ele[8]*B.ele[10] + A.ele[12]*B.ele[11];
00311 Res.ele[9] = A.ele[1]*B.ele[8] + A.ele[5]*B.ele[9] + A.ele[9]*B.ele[10] + A.ele[13]*B.ele[11];
00312 Res.ele[10] = A.ele[2]*B.ele[8] + A.ele[6]*B.ele[9] + A.ele[10]*B.ele[10] + A.ele[14]*B.ele[11];
00313 Res.ele[11] = A.ele[3]*B.ele[8] + A.ele[7]*B.ele[9] + A.ele[11]*B.ele[10] + A.ele[15]*B.ele[11];
00314
00315 Res.ele[12] = A.ele[0]*B.ele[12] + A.ele[4]*B.ele[13] + A.ele[8]*B.ele[14] + A.ele[12]*B.ele[15];
00316 Res.ele[13] = A.ele[1]*B.ele[12] + A.ele[5]*B.ele[13] + A.ele[9]*B.ele[14] + A.ele[13]*B.ele[15];
00317 Res.ele[14] = A.ele[2]*B.ele[12] + A.ele[6]*B.ele[13] + A.ele[10]*B.ele[14] + A.ele[14]*B.ele[15];
00318 Res.ele[15] = A.ele[3]*B.ele[12] + A.ele[7]*B.ele[13] + A.ele[11]*B.ele[14] + A.ele[15]*B.ele[15];
00319 return Res;
00320 }
00321
00322 inline mitkMatrixD& mitkMatrixD::operator *= (const mitkMatrixD &B)
00323 {
00324 mitkMatrixD Res;
00325 Res.ele[0] = ele[0]*B.ele[0] + ele[4]*B.ele[1] + ele[8]*B.ele[2] + ele[12]*B.ele[3];
00326 Res.ele[1] = ele[1]*B.ele[0] + ele[5]*B.ele[1] + ele[9]*B.ele[2] + ele[13]*B.ele[3];
00327 Res.ele[2] = ele[2]*B.ele[0] + ele[6]*B.ele[1] + ele[10]*B.ele[2] + ele[14]*B.ele[3];
00328 Res.ele[3] = ele[3]*B.ele[0] + ele[7]*B.ele[1] + ele[11]*B.ele[2] + ele[15]*B.ele[3];
00329
00330 Res.ele[4] = ele[0]*B.ele[4] + ele[4]*B.ele[5] + ele[8]*B.ele[6] + ele[12]*B.ele[7];
00331 Res.ele[5] = ele[1]*B.ele[4] + ele[5]*B.ele[5] + ele[9]*B.ele[6] + ele[13]*B.ele[7];
00332 Res.ele[6] = ele[2]*B.ele[4] + ele[6]*B.ele[5] + ele[10]*B.ele[6] + ele[14]*B.ele[7];
00333 Res.ele[7] = ele[3]*B.ele[4] + ele[7]*B.ele[5] + ele[11]*B.ele[6] + ele[15]*B.ele[7];
00334
00335 Res.ele[8] = ele[0]*B.ele[8] + ele[4]*B.ele[9] + ele[8]*B.ele[10] + ele[12]*B.ele[11];
00336 Res.ele[9] = ele[1]*B.ele[8] + ele[5]*B.ele[9] + ele[9]*B.ele[10] + ele[13]*B.ele[11];
00337 Res.ele[10] = ele[2]*B.ele[8] + ele[6]*B.ele[9] + ele[10]*B.ele[10] + ele[14]*B.ele[11];
00338 Res.ele[11] = ele[3]*B.ele[8] + ele[7]*B.ele[9] + ele[11]*B.ele[10] + ele[15]*B.ele[11];
00339
00340 Res.ele[12] = ele[0]*B.ele[12] + ele[4]*B.ele[13] + ele[8]*B.ele[14] + ele[12]*B.ele[15];
00341 Res.ele[13] = ele[1]*B.ele[12] + ele[5]*B.ele[13] + ele[9]*B.ele[14] + ele[13]*B.ele[15];
00342 Res.ele[14] = ele[2]*B.ele[12] + ele[6]*B.ele[13] + ele[10]*B.ele[14] + ele[14]*B.ele[15];
00343 Res.ele[15] = ele[3]*B.ele[12] + ele[7]*B.ele[13] + ele[11]*B.ele[14] + ele[15]*B.ele[15];
00344 *this = Res;
00345 return *this;
00346 }
00347
00348 inline mitkMatrixD operator * (const mitkMatrixD &A, const double s)
00349 {
00350 mitkMatrixD Res;
00351
00352 Res.ele[0] = A.ele[0] * s;
00353 Res.ele[1] = A.ele[1] * s;
00354 Res.ele[2] = A.ele[2] * s;
00355 Res.ele[3] = A.ele[3] * s;
00356 Res.ele[4] = A.ele[4] * s;
00357 Res.ele[5] = A.ele[5] * s;
00358 Res.ele[6] = A.ele[6] * s;
00359 Res.ele[7] = A.ele[7] * s;
00360 Res.ele[8] = A.ele[8] * s;
00361 Res.ele[9] = A.ele[9] * s;
00362 Res.ele[10] = A.ele[10] * s;
00363 Res.ele[11] = A.ele[11] * s;
00364 Res.ele[12] = A.ele[12] * s;
00365 Res.ele[13] = A.ele[13] * s;
00366 Res.ele[14] = A.ele[14] * s;
00367 Res.ele[15] = A.ele[15] * s;
00368 return Res;
00369 }
00370
00371 inline mitkMatrixD operator * (const double s, const mitkMatrixD &A)
00372 {
00373 mitkMatrixD Res;
00374
00375 Res.ele[0] = A.ele[0] * s;
00376 Res.ele[1] = A.ele[1] * s;
00377 Res.ele[2] = A.ele[2] * s;
00378 Res.ele[3] = A.ele[3] * s;
00379 Res.ele[4] = A.ele[4] * s;
00380 Res.ele[5] = A.ele[5] * s;
00381 Res.ele[6] = A.ele[6] * s;
00382 Res.ele[7] = A.ele[7] * s;
00383 Res.ele[8] = A.ele[8] * s;
00384 Res.ele[9] = A.ele[9] * s;
00385 Res.ele[10] = A.ele[10] * s;
00386 Res.ele[11] = A.ele[11] * s;
00387 Res.ele[12] = A.ele[12] * s;
00388 Res.ele[13] = A.ele[13] * s;
00389 Res.ele[14] = A.ele[14] * s;
00390 Res.ele[15] = A.ele[15] * s;
00391 return Res;
00392 }
00393
00394 inline mitkMatrixD& mitkMatrixD::operator *= (const double s)
00395 {
00396 ele[0] *= s;
00397 ele[1] *= s;
00398 ele[2] *= s;
00399 ele[3] *= s;
00400 ele[4] *= s;
00401 ele[5] *= s;
00402 ele[6] *= s;
00403 ele[7] *= s;
00404 ele[8] *= s;
00405 ele[9] *= s;
00406 ele[10] *= s;
00407 ele[11] *= s;
00408 ele[12] *= s;
00409 ele[13] *= s;
00410 ele[14] *= s;
00411 ele[15] *= s;
00412 return *this;
00413 }
00414
00415 inline mitkMatrixD operator + (const mitkMatrixD &A, const mitkMatrixD &B)
00416 {
00417 mitkMatrixD Res;
00418
00419 Res.ele[0] = A.ele[0] + B.ele[0];
00420 Res.ele[1] = A.ele[1] + B.ele[1];
00421 Res.ele[2] = A.ele[2] + B.ele[2];
00422 Res.ele[3] = A.ele[3] + B.ele[3];
00423 Res.ele[4] = A.ele[4] + B.ele[4];
00424 Res.ele[5] = A.ele[5] + B.ele[5];
00425 Res.ele[6] = A.ele[6] + B.ele[6];
00426 Res.ele[7] = A.ele[7] + B.ele[7];
00427 Res.ele[8] = A.ele[8] + B.ele[8];
00428 Res.ele[9] = A.ele[9] + B.ele[9];
00429 Res.ele[10] = A.ele[10] + B.ele[10];
00430 Res.ele[11] = A.ele[11] + B.ele[11];
00431 Res.ele[12] = A.ele[12] + B.ele[12];
00432 Res.ele[13] = A.ele[13] + B.ele[13];
00433 Res.ele[14] = A.ele[14] + B.ele[14];
00434 Res.ele[15] = A.ele[15] + B.ele[15];
00435 return Res;
00436 }
00437
00438 inline mitkMatrixD & mitkMatrixD::operator += (const mitkMatrixD &B)
00439 {
00440 ele[0] += B.ele[0];
00441 ele[1] += B.ele[1];
00442 ele[2] += B.ele[2];
00443 ele[3] += B.ele[3];
00444 ele[4] += B.ele[4];
00445 ele[5] += B.ele[5];
00446 ele[6] += B.ele[6];
00447 ele[7] += B.ele[7];
00448 ele[8] += B.ele[8];
00449 ele[9] += B.ele[9];
00450 ele[10] += B.ele[10];
00451 ele[11] += B.ele[11];
00452 ele[12] += B.ele[12];
00453 ele[13] += B.ele[13];
00454 ele[14] += B.ele[14];
00455 ele[15] += B.ele[15];
00456 return *this;
00457 }
00458
00459 inline mitkMatrixD operator - (const mitkMatrixD &A, const mitkMatrixD &B)
00460 {
00461 mitkMatrixD Res;
00462
00463 Res.ele[0] = A.ele[0] - B.ele[0];
00464 Res.ele[1] = A.ele[1] - B.ele[1];
00465 Res.ele[2] = A.ele[2] - B.ele[2];
00466 Res.ele[3] = A.ele[3] - B.ele[3];
00467 Res.ele[4] = A.ele[4] - B.ele[4];
00468 Res.ele[5] = A.ele[5] - B.ele[5];
00469 Res.ele[6] = A.ele[6] - B.ele[6];
00470 Res.ele[7] = A.ele[7] - B.ele[7];
00471 Res.ele[8] = A.ele[8] - B.ele[8];
00472 Res.ele[9] = A.ele[9] - B.ele[9];
00473 Res.ele[10] = A.ele[10] - B.ele[10];
00474 Res.ele[11] = A.ele[11] - B.ele[11];
00475 Res.ele[12] = A.ele[12] - B.ele[12];
00476 Res.ele[13] = A.ele[13] - B.ele[13];
00477 Res.ele[14] = A.ele[14] - B.ele[14];
00478 Res.ele[15] = A.ele[15] - B.ele[15];
00479 return Res;
00480 }
00481
00482 inline mitkMatrixD operator - (const mitkMatrixD &A)
00483 {
00484 mitkMatrixD Res;
00485
00486 Res.ele[0] = - A.ele[0];
00487 Res.ele[1] = - A.ele[1];
00488 Res.ele[2] = - A.ele[2];
00489 Res.ele[3] = - A.ele[3];
00490 Res.ele[4] = - A.ele[4];
00491 Res.ele[5] = - A.ele[5];
00492 Res.ele[6] = - A.ele[6];
00493 Res.ele[7] = - A.ele[7];
00494 Res.ele[8] = - A.ele[8];
00495 Res.ele[9] = - A.ele[9];
00496 Res.ele[10] = - A.ele[10];
00497 Res.ele[11] = - A.ele[11];
00498 Res.ele[12] = - A.ele[12];
00499 Res.ele[13] = - A.ele[13];
00500 Res.ele[14] = - A.ele[14];
00501 Res.ele[15] = - A.ele[15];
00502 return Res;
00503 }
00504
00505 inline mitkMatrixD & mitkMatrixD::operator -= (const mitkMatrixD &B)
00506 {
00507 ele[0] -= B.ele[0];
00508 ele[1] -= B.ele[1];
00509 ele[2] -= B.ele[2];
00510 ele[3] -= B.ele[3];
00511 ele[4] -= B.ele[4];
00512 ele[5] -= B.ele[5];
00513 ele[6] -= B.ele[6];
00514 ele[7] -= B.ele[7];
00515 ele[8] -= B.ele[8];
00516 ele[9] -= B.ele[9];
00517 ele[10] -= B.ele[10];
00518 ele[11] -= B.ele[11];
00519 ele[12] -= B.ele[12];
00520 ele[13] -= B.ele[13];
00521 ele[14] -= B.ele[14];
00522 ele[15] -= B.ele[15];
00523 return *this;
00524 }
00525
00526 inline mitkVectorD operator * (const mitkVectorD& Vec, const mitkMatrixD& Mat)
00527 {
00528 mitkVectorD Res;
00529 Res.ele[0] = Mat.ele[0]*Vec.ele[0] + Mat.ele[1]*Vec.ele[1] + Mat.ele[2]*Vec.ele[2] + Mat.ele[3]*Vec.ele[3];
00530 Res.ele[1] = Mat.ele[4]*Vec.ele[0] + Mat.ele[5]*Vec.ele[1] + Mat.ele[6]*Vec.ele[2] + Mat.ele[7]*Vec.ele[3];
00531 Res.ele[2] = Mat.ele[8]*Vec.ele[0] + Mat.ele[9]*Vec.ele[1] + Mat.ele[10]*Vec.ele[2] + Mat.ele[11]*Vec.ele[3];
00532 Res.ele[3] = Mat.ele[12]*Vec.ele[0] + Mat.ele[13]*Vec.ele[1] + Mat.ele[14]*Vec.ele[2] + Mat.ele[15]*Vec.ele[3];
00533 return Res;
00534 }
00535
00536 inline mitkVectorD operator * (const mitkMatrixD& Mat, mitkVectorD& Vec)
00537 {
00538 mitkVectorD Res;
00539 Res.ele[0] = Mat.ele[0]*Vec.ele[0] + Mat.ele[4]*Vec.ele[1] + Mat.ele[8]*Vec.ele[2] + Mat.ele[12]*Vec.ele[3];
00540 Res.ele[1] = Mat.ele[1]*Vec.ele[0] + Mat.ele[5]*Vec.ele[1] + Mat.ele[9]*Vec.ele[2] + Mat.ele[13]*Vec.ele[3];
00541 Res.ele[2] = Mat.ele[2]*Vec.ele[0] + Mat.ele[6]*Vec.ele[1] + Mat.ele[10]*Vec.ele[2] + Mat.ele[14]*Vec.ele[3];
00542 Res.ele[3] = Mat.ele[3]*Vec.ele[0] + Mat.ele[7]*Vec.ele[1] + Mat.ele[11]*Vec.ele[2] + Mat.ele[15]*Vec.ele[3];
00543 return Res;
00544 }
00545
00546 inline mitkVectorD& mitkVectorD::operator *= (const mitkMatrixD& Mat)
00547 {
00548 double temp[4];
00549 temp[0] = Mat.ele[0]*ele[0] + Mat.ele[4]*ele[1] + Mat.ele[8]*ele[2] + Mat.ele[12]*ele[3];
00550 temp[1] = Mat.ele[1]*ele[0] + Mat.ele[5]*ele[1] + Mat.ele[9]*ele[2] + Mat.ele[13]*ele[3];
00551 temp[2] = Mat.ele[2]*ele[0] + Mat.ele[6]*ele[1] + Mat.ele[10]*ele[2] + Mat.ele[14]*ele[3];
00552 temp[3] = Mat.ele[3]*ele[0] + Mat.ele[7]*ele[1] + Mat.ele[11]*ele[2] + Mat.ele[15]*ele[3];
00553 ele[0] = temp[0];
00554 ele[1] = temp[1];
00555 ele[2] = temp[2];
00556 ele[3] = temp[3];
00557 return *this;
00558 }
00559
00560 inline double operator * (const mitkVectorD& A, const mitkVectorD& B)
00561 {
00562 return A.ele[0]*B.ele[0] + A.ele[1]*B.ele[1] + A.ele[2]*B.ele[2];
00563 }
00564
00565 inline mitkVectorD operator % (const mitkVectorD& A, const mitkVectorD& B)
00566 {
00567 mitkVectorD Res;
00568 Res.ele[0] = A.ele[1] * B.ele[2] - A.ele[2] * B.ele[1];
00569 Res.ele[1] = A.ele[2] * B.ele[0] - A.ele[0] * B.ele[2];
00570 Res.ele[2] = A.ele[0] * B.ele[1] - A.ele[1] * B.ele[0];
00571 Res.ele[3] = 0.0f;
00572 return Res;
00573 }
00574
00575 inline mitkVectorD operator * (const mitkVectorD &V, const double s)
00576 {
00577 mitkVectorD Res;
00578 Res.ele[0] = V.ele[0] * s;
00579 Res.ele[1] = V.ele[1] * s;
00580 Res.ele[2] = V.ele[2] * s;
00581 Res.ele[3] = V.ele[3] * s;
00582 return Res;
00583 }
00584
00585 inline mitkVectorD operator * (const double s, const mitkVectorD &V)
00586 {
00587 mitkVectorD Res;
00588 Res.ele[0] = V.ele[0] * s;
00589 Res.ele[1] = V.ele[1] * s;
00590 Res.ele[2] = V.ele[2] * s;
00591 Res.ele[3] = V.ele[3] * s;
00592 return Res;
00593 }
00594
00595 inline mitkVectorD& mitkVectorD::operator *= (const double s)
00596 {
00597 ele[0] *= s;
00598 ele[1] *= s;
00599 ele[2] *= s;
00600 ele[3] *= s;
00601 return *this;
00602 }
00603
00604 inline mitkVectorD operator + (const mitkVectorD& A, const mitkVectorD& B)
00605 {
00606 mitkVectorD Res;
00607 Res.ele[0] = A.ele[0] + B.ele[0];
00608 Res.ele[1] = A.ele[1] + B.ele[1];
00609 Res.ele[2] = A.ele[2] + B.ele[2];
00610 Res.ele[3] = A.ele[3] + B.ele[3];
00611 return Res;
00612 }
00613
00614 inline mitkVectorD operator - (const mitkVectorD& A, const mitkVectorD& B)
00615 {
00616 mitkVectorD Res;
00617 Res.ele[0] = A.ele[0] - B.ele[0];
00618 Res.ele[1] = A.ele[1] - B.ele[1];
00619 Res.ele[2] = A.ele[2] - B.ele[2];
00620 Res.ele[3] = A.ele[3] - B.ele[3];
00621 return Res;
00622 }
00623
00624 inline mitkVectorD operator - (const mitkVectorD& A)
00625 {
00626 mitkVectorD Res;
00627 Res.ele[0] = - A.ele[0];
00628 Res.ele[1] = - A.ele[1];
00629 Res.ele[2] = - A.ele[2];
00630 Res.ele[3] = - A.ele[3];
00631 return Res;
00632 }
00633
00634 inline mitkVectorD & mitkVectorD::operator += (const mitkVectorD &B)
00635 {
00636 ele[0] += B.ele[0];
00637 ele[1] += B.ele[1];
00638 ele[2] += B.ele[2];
00639 ele[3] += B.ele[3];
00640 return *this;
00641 }
00642
00643 inline mitkVectorD & mitkVectorD::operator -= (const mitkVectorD &B)
00644 {
00645 ele[0] -= B.ele[0];
00646 ele[1] -= B.ele[1];
00647 ele[2] -= B.ele[2];
00648 ele[3] -= B.ele[3];
00649 return *this;
00650 }
00651
00652 inline double mitkVectorD::Length()
00653 {
00654 return sqrt(ele[0]*ele[0] + ele[1]*ele[1] + ele[2]*ele[2]);
00655 }
00656
00657 inline double mitkVectorD::Length2()
00658 {
00659 return (ele[0]*ele[0] + ele[1]*ele[1] + ele[2]*ele[2]);
00660 }
00661
00662 inline void mitkVectorD::Normalize()
00663 {
00664 double vecLenInv = 1.0 / sqrt(ele[0]*ele[0] + ele[1]*ele[1] + ele[2]*ele[2]);
00665 ele[0] *= vecLenInv;
00666 ele[1] *= vecLenInv;
00667 ele[2] *= vecLenInv;
00668 }
00669
00670
00671 #endif
00672
