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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#include <ode/config.h>
#include <ode/misc.h>
#include <ode/matrix.h>
#include <ode/error.h>
#include <ode/memory.h>
#include "mat.h"
dMatrix::dMatrix()
{
n = 0;
m = 0;
data = 0;
}
dMatrix::dMatrix (int rows, int cols)
{
if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
n = rows;
m = cols;
data = (dReal*) dAlloc (n*m*sizeof(dReal));
dSetZero (data,n*m);
}
dMatrix::dMatrix (const dMatrix &a)
{
n = a.n;
m = a.m;
data = (dReal*) dAlloc (n*m*sizeof(dReal));
memcpy (data,a.data,n*m*sizeof(dReal));
}
dMatrix::dMatrix (int rows, int cols,
dReal *_data, int rowskip, int colskip)
{
if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
n = rows;
m = cols;
data = (dReal*) dAlloc (n*m*sizeof(dReal));
for (int i=0; i<n; i++) {
for (int j=0; j<m; j++) data[i*m+j] = _data[i*rowskip + j*colskip];
}
}
dMatrix::~dMatrix()
{
if (data) dFree (data,n*m*sizeof(dReal));
}
dReal & dMatrix::operator () (int i, int j)
{
if (i < 0 || i >= n || j < 0 || j >= m) dDebug (0,"bad matrix (i,j)");
return data [i*m+j];
}
void dMatrix::operator= (const dMatrix &a)
{
if (data) dFree (data,n*m*sizeof(dReal));
n = a.n;
m = a.m;
if (n > 0 && m > 0) {
data = (dReal*) dAlloc (n*m*sizeof(dReal));
memcpy (data,a.data,n*m*sizeof(dReal));
}
else data = 0;
}
void dMatrix::operator= (dReal a)
{
for (int i=0; i<n*m; i++) data[i] = a;
}
dMatrix dMatrix::transpose()
{
dMatrix r (m,n);
for (int i=0; i<n; i++) {
for (int j=0; j<m; j++) r.data[j*n+i] = data[i*m+j];
}
return r;
}
dMatrix dMatrix::select (int np, int *p, int nq, int *q)
{
if (np < 1 || nq < 1) dDebug (0,"Matrix select, bad index array sizes");
dMatrix r (np,nq);
for (int i=0; i<np; i++) {
for (int j=0; j<nq; j++) {
if (p[i] < 0 || p[i] >= n || q[i] < 0 || q[i] >= m)
dDebug (0,"Matrix select, bad index arrays");
r.data[i*nq+j] = data[p[i]*m+q[j]];
}
}
return r;
}
dMatrix dMatrix::operator + (const dMatrix &a)
{
if (n != a.n || m != a.m) dDebug (0,"matrix +, mismatched sizes");
dMatrix r (n,m);
for (int i=0; i<n*m; i++) r.data[i] = data[i] + a.data[i];
return r;
}
dMatrix dMatrix::operator - (const dMatrix &a)
{
if (n != a.n || m != a.m) dDebug (0,"matrix -, mismatched sizes");
dMatrix r (n,m);
for (int i=0; i<n*m; i++) r.data[i] = data[i] - a.data[i];
return r;
}
dMatrix dMatrix::operator - ()
{
dMatrix r (n,m);
for (int i=0; i<n*m; i++) r.data[i] = -data[i];
return r;
}
dMatrix dMatrix::operator * (const dMatrix &a)
{
if (m != a.n) dDebug (0,"matrix *, mismatched sizes");
dMatrix r (n,a.m);
for (int i=0; i<n; i++) {
for (int j=0; j<a.m; j++) {
dReal sum = 0;
for (int k=0; k<m; k++) sum += data[i*m+k] * a.data[k*a.m+j];
r.data [i*a.m+j] = sum;
}
}
return r;
}
void dMatrix::operator += (const dMatrix &a)
{
if (n != a.n || m != a.m) dDebug (0,"matrix +=, mismatched sizes");
for (int i=0; i<n*m; i++) data[i] += a.data[i];
}
void dMatrix::operator -= (const dMatrix &a)
{
if (n != a.n || m != a.m) dDebug (0,"matrix -=, mismatched sizes");
for (int i=0; i<n*m; i++) data[i] -= a.data[i];
}
void dMatrix::clearUpperTriangle()
{
if (n != m) dDebug (0,"clearUpperTriangle() only works on square matrices");
for (int i=0; i<n; i++) {
for (int j=i+1; j<m; j++) data[i*m+j] = 0;
}
}
void dMatrix::clearLowerTriangle()
{
if (n != m) dDebug (0,"clearLowerTriangle() only works on square matrices");
for (int i=0; i<n; i++) {
for (int j=0; j<i; j++) data[i*m+j] = 0;
}
}
void dMatrix::makeRandom (dReal range)
{
for (int i=0; i<n; i++) {
for (int j=0; j<m; j++)
data[i*m+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
}
}
void dMatrix::print (char *fmt, FILE *f)
{
for (int i=0; i<n; i++) {
for (int j=0; j<m; j++) fprintf (f,fmt,data[i*m+j]);
fprintf (f,"\n");
}
}
dReal dMatrix::maxDifference (const dMatrix &a)
{
if (n != a.n || m != a.m) dDebug (0,"maxDifference(), mismatched sizes");
dReal max = 0;
for (int i=0; i<n; i++) {
for (int j=0; j<m; j++) {
dReal diff = dFabs(data[i*m+j] - a.data[i*m+j]);
if (diff > max) max = diff;
}
}
return max;
}
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