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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#include <ode/config.h>
24#include <ode/misc.h>
25#include <ode/matrix.h>
26#include <ode/error.h>
27#include <ode/memory.h>
28#include "mat.h"
29
30
31dMatrix::dMatrix()
32{
33 n = 0;
34 m = 0;
35 data = 0;
36}
37
38
39dMatrix::dMatrix (int rows, int cols)
40{
41 if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
42 n = rows;
43 m = cols;
44 data = (dReal*) dAlloc (n*m*sizeof(dReal));
45 dSetZero (data,n*m);
46}
47
48
49dMatrix::dMatrix (const dMatrix &a)
50{
51 n = a.n;
52 m = a.m;
53 data = (dReal*) dAlloc (n*m*sizeof(dReal));
54 memcpy (data,a.data,n*m*sizeof(dReal));
55}
56
57
58dMatrix::dMatrix (int rows, int cols,
59 dReal *_data, int rowskip, int colskip)
60{
61 if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
62 n = rows;
63 m = cols;
64 data = (dReal*) dAlloc (n*m*sizeof(dReal));
65 for (int i=0; i<n; i++) {
66 for (int j=0; j<m; j++) data[i*m+j] = _data[i*rowskip + j*colskip];
67 }
68}
69
70
71dMatrix::~dMatrix()
72{
73 if (data) dFree (data,n*m*sizeof(dReal));
74}
75
76
77dReal & dMatrix::operator () (int i, int j)
78{
79 if (i < 0 || i >= n || j < 0 || j >= m) dDebug (0,"bad matrix (i,j)");
80 return data [i*m+j];
81}
82
83
84void dMatrix::operator= (const dMatrix &a)
85{
86 if (data) dFree (data,n*m*sizeof(dReal));
87 n = a.n;
88 m = a.m;
89 if (n > 0 && m > 0) {
90 data = (dReal*) dAlloc (n*m*sizeof(dReal));
91 memcpy (data,a.data,n*m*sizeof(dReal));
92 }
93 else data = 0;
94}
95
96
97void dMatrix::operator= (dReal a)
98{
99 for (int i=0; i<n*m; i++) data[i] = a;
100}
101
102
103dMatrix dMatrix::transpose()
104{
105 dMatrix r (m,n);
106 for (int i=0; i<n; i++) {
107 for (int j=0; j<m; j++) r.data[j*n+i] = data[i*m+j];
108 }
109 return r;
110}
111
112
113dMatrix dMatrix::select (int np, int *p, int nq, int *q)
114{
115 if (np < 1 || nq < 1) dDebug (0,"Matrix select, bad index array sizes");
116 dMatrix r (np,nq);
117 for (int i=0; i<np; i++) {
118 for (int j=0; j<nq; j++) {
119 if (p[i] < 0 || p[i] >= n || q[i] < 0 || q[i] >= m)
120 dDebug (0,"Matrix select, bad index arrays");
121 r.data[i*nq+j] = data[p[i]*m+q[j]];
122 }
123 }
124 return r;
125}
126
127
128dMatrix dMatrix::operator + (const dMatrix &a)
129{
130 if (n != a.n || m != a.m) dDebug (0,"matrix +, mismatched sizes");
131 dMatrix r (n,m);
132 for (int i=0; i<n*m; i++) r.data[i] = data[i] + a.data[i];
133 return r;
134}
135
136
137dMatrix dMatrix::operator - (const dMatrix &a)
138{
139 if (n != a.n || m != a.m) dDebug (0,"matrix -, mismatched sizes");
140 dMatrix r (n,m);
141 for (int i=0; i<n*m; i++) r.data[i] = data[i] - a.data[i];
142 return r;
143}
144
145
146dMatrix dMatrix::operator - ()
147{
148 dMatrix r (n,m);
149 for (int i=0; i<n*m; i++) r.data[i] = -data[i];
150 return r;
151}
152
153
154dMatrix dMatrix::operator * (const dMatrix &a)
155{
156 if (m != a.n) dDebug (0,"matrix *, mismatched sizes");
157 dMatrix r (n,a.m);
158 for (int i=0; i<n; i++) {
159 for (int j=0; j<a.m; j++) {
160 dReal sum = 0;
161 for (int k=0; k<m; k++) sum += data[i*m+k] * a.data[k*a.m+j];
162 r.data [i*a.m+j] = sum;
163 }
164 }
165 return r;
166}
167
168
169void dMatrix::operator += (const dMatrix &a)
170{
171 if (n != a.n || m != a.m) dDebug (0,"matrix +=, mismatched sizes");
172 for (int i=0; i<n*m; i++) data[i] += a.data[i];
173}
174
175
176void dMatrix::operator -= (const dMatrix &a)
177{
178 if (n != a.n || m != a.m) dDebug (0,"matrix -=, mismatched sizes");
179 for (int i=0; i<n*m; i++) data[i] -= a.data[i];
180}
181
182
183void dMatrix::clearUpperTriangle()
184{
185 if (n != m) dDebug (0,"clearUpperTriangle() only works on square matrices");
186 for (int i=0; i<n; i++) {
187 for (int j=i+1; j<m; j++) data[i*m+j] = 0;
188 }
189}
190
191
192void dMatrix::clearLowerTriangle()
193{
194 if (n != m) dDebug (0,"clearLowerTriangle() only works on square matrices");
195 for (int i=0; i<n; i++) {
196 for (int j=0; j<i; j++) data[i*m+j] = 0;
197 }
198}
199
200
201void dMatrix::makeRandom (dReal range)
202{
203 for (int i=0; i<n; i++) {
204 for (int j=0; j<m; j++)
205 data[i*m+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
206 }
207}
208
209
210void dMatrix::print (char *fmt, FILE *f)
211{
212 for (int i=0; i<n; i++) {
213 for (int j=0; j<m; j++) fprintf (f,fmt,data[i*m+j]);
214 fprintf (f,"\n");
215 }
216}
217
218
219dReal dMatrix::maxDifference (const dMatrix &a)
220{
221 if (n != a.n || m != a.m) dDebug (0,"maxDifference(), mismatched sizes");
222 dReal max = 0;
223 for (int i=0; i<n; i++) {
224 for (int j=0; j<m; j++) {
225 dReal diff = dFabs(data[i*m+j] - a.data[i*m+j]);
226 if (diff > max) max = diff;
227 }
228 }
229 return max;
230}
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