Math: Matrix::invertedOrthogonal(), Matrix{3,4}::invertedRigid().

Renamed original invertedEuclidean() functions to invertedRigid() and
simplified them using isRigidTransformation().

doc/transformations.dox

@@ -188,9 +188,9 @@ Inverse transformation can be computed using Matrix3::inverted(), Matrix4::inver
 Complex::inverted(), Quaternion::inverted(), DualComplex::inverted() or
 DualQuaternion::inverted(). %Matrix inversion is quite costly, so if your
 transformation involves only translation and rotation, you can use faster
-alternatives Matrix3::invertedEuclidean() and Matrix4::invertedEuclidean(). If
+alternatives Matrix3::invertedRigid() and Matrix4::invertedRigid(). If you are
-you are sure that the (dual) complex number or (dual) quaternion is of unit
+sure that the (dual) complex number or (dual) quaternion is of unit length, you
-length, you can use Complex::invertedNormalized(), Quaternion::invertedNormalized(),
+can use Complex::invertedNormalized(), Quaternion::invertedNormalized(),
 DualComplex::invertedNormalized() or DualQuaternion::invertedNormalized() which
 is a little bit faster, because it doesn't need to renormalize the result.
 

src/Math/Matrix.h

@@ -168,8 +168,7 @@ template<std::size_t size, class T> class Matrix: public RectangularMatrix<size,
          * Computed using Cramer's rule: @f[
          *      A^{-1} = \frac{1}{\det(A)} Adj(A)
          * @f]
-         *
+         * See invertedOrthogonal(), Matrix3::invertedRigid() and Matrix4::invertedRigid()
-         * See Matrix3::invertedEuclidean() and Matrix4::invertedEuclidean()
          * which are faster alternatives for particular matrix types.
          */
         Matrix<size, T> inverted() const {
@@ -184,6 +183,21 @@ template<std::size_t size, class T> class Matrix: public RectangularMatrix<size,
             return out;
         }
 
+        /**
+         * @brief Inverted orthogonal matrix
+         *
+         * Equivalent to transposed(), expects that the matrix is orthogonal. @f[
+         *      A^{-1} = A^T
+         * @f]
+         * @see inverted(), isOrthogonal(), Matrix3::invertedRigid(),
+         *      Matrix4::invertedRigid()
+         */
+        inline Matrix<size, T> invertedOrthogonal() const {
+            CORRADE_ASSERT(isOrthogonal(),
+                "Math::Matrix::invertedOrthogonal(): the matrix is not orthogonal", {});
+            return this->transposed();
+        }
+
         #ifndef DOXYGEN_GENERATING_OUTPUT
         /* Reimplementation of functions to return correct type */
         inline Matrix<size, T> operator*(const Matrix<size, T>& other) const {
@@ -239,7 +253,10 @@ template<std::size_t size, class T> inline Corrade::Utility::Debug operator<<(Co
     }                                                                       \
                                                                             \
     inline Type<T> transposed() const { return Matrix<size, T>::transposed(); } \
-    inline Type<T> inverted() const { return Matrix<size, T>::inverted(); }
+    inline Type<T> inverted() const { return Matrix<size, T>::inverted(); } \
+    inline Type<T> invertedOrthogonal() const {                             \
+        return Matrix<size, T>::invertedOrthogonal();                       \
+    }
 
 #define MAGNUM_MATRIX_SUBCLASS_OPERATOR_IMPLEMENTATION(Type, size)          \
     template<class T, class U> inline typename std::enable_if<std::is_arithmetic<U>::value, Type<T>>::type operator*(U number, const Type<T>& matrix) { \

src/Math/Matrix3.h

@@ -218,20 +218,18 @@ template<class T> class Matrix3: public Matrix<3, T> {
         inline constexpr Vector2<T> translation() const { return (*this)[2].xy(); } /**< @overload */
 
         /**
-         * @brief Inverted Euclidean transformation matrix
+         * @brief Inverted rigid transformation matrix
          *
-         * Assumes that the matrix represents Euclidean transformation (i.e.
+         * Expects that the matrix represents rigid transformation.
-         * only rotation and translation, no scaling) and creates inverted
-         * matrix from transposed rotation part and negated translation part.
          * Significantly faster than the general algorithm in inverted().
-         * @see rotationScaling() const, translation() const
+         * @see isRigidTransformation(), invertedOrthogonal(),
+         *      rotationScaling() const, translation() const
          */
-        inline Matrix3<T> invertedEuclidean() const {
+        inline Matrix3<T> invertedRigid() const {
-            CORRADE_ASSERT((*this)[0][2] == T(0) && (*this)[1][2] == T(0) && (*this)[2][2] == T(1),
+            CORRADE_ASSERT(isRigidTransformation(),
-                "Math::Matrix3::invertedEuclidean(): unexpected values on last row", {});
+                "Math::Matrix3::invertedRigid(): the matrix doesn't represent rigid transformation", {});
+
             Matrix<2, T> inverseRotation = rotationScaling().transposed();
-            CORRADE_ASSERT((inverseRotation*rotationScaling() == Matrix<2, T>()),
-                "Math::Matrix3::invertedEuclidean(): the matrix doesn't represent Euclidean transformation", {});
             return from(inverseRotation, inverseRotation*-translation());
         }
 

src/Math/Matrix4.h

@@ -363,20 +363,18 @@ template<class T> class Matrix4: public Matrix<4, T> {
         inline constexpr Vector3<T> translation() const { return (*this)[3].xyz(); } /**< @overload */
 
         /**
-         * @brief Inverted Euclidean transformation matrix
+         * @brief Inverted rigid transformation matrix
          *
-         * Expects that the matrix represents Euclidean transformation (i.e.
+         * Expects that the matrix represents rigid transformation.
-         * only rotation and translation, no scaling) and creates inverted
-         * matrix from transposed rotation part and negated translation part.
          * Significantly faster than the general algorithm in inverted().
-         * @see rotationScaling() const, translation() const
+         * @see isRigidTransformation(), invertedOrthogonal(),
+         *      rotationScaling() const, translation() const
          */
-        inline Matrix4<T> invertedEuclidean() const {
+        inline Matrix4<T> invertedRigid() const {
-            CORRADE_ASSERT((*this)[0][3] == T(0) && (*this)[1][3] == T(0) && (*this)[2][3] == T(0) && (*this)[3][3] == T(1),
+            CORRADE_ASSERT(isRigidTransformation(),
-                "Math::Matrix4::invertedEuclidean(): unexpected values on last row", {});
+                "Math::Matrix4::invertedRigid(): the matrix doesn't represent rigid transformation", {});
+
             Matrix<3, T> inverseRotation = rotationScaling().transposed();
-            CORRADE_ASSERT((inverseRotation*rotationScaling() == Matrix<3, T>()),
-                "Math::Matrix4::invertedEuclidean(): the matrix doesn't represent Euclidean transformation", {});
             return from(inverseRotation, inverseRotation*-translation());
         }
 

src/Math/Test/CMakeLists.txt

@@ -49,6 +49,7 @@ corrade_add_test(MathDualQuaternionTest DualQuaternionTest.cpp LIBRARIES MagnumM
 
 set_target_properties(
     MathVectorTest
+    MathMatrixTest
     MathMatrix3Test
     MathMatrix4Test
     MathComplexTest

src/Math/Test/Matrix3Test.cpp

@@ -51,7 +51,7 @@ class Matrix3Test: public Corrade::TestSuite::Tester {
         void rotationScalingPart();
         void rotationPart();
         void vectorParts();
-        void invertedEuclidean();
+        void invertedRigid();
         void transform();
 
         void debug();
@@ -82,7 +82,7 @@ Matrix3Test::Matrix3Test() {
               &Matrix3Test::rotationScalingPart,
               &Matrix3Test::rotationPart,
               &Matrix3Test::vectorParts,
-              &Matrix3Test::invertedEuclidean,
+              &Matrix3Test::invertedRigid,
               &Matrix3Test::transform,
 
               &Matrix3Test::debug,
@@ -271,20 +271,7 @@ void Matrix3Test::vectorParts() {
     CORRADE_COMPARE(translation, Vector2(-5.0f, 12.0f));
 }
 
-void Matrix3Test::invertedEuclidean() {
+void Matrix3Test::invertedRigid() {
-    std::ostringstream o;
-    Error::setOutput(&o);
-
-    Matrix3 m({3.0f,  5.0f, 8.0f},
-              {4.0f,  4.0f, 7.0f},
-              {7.0f, -1.0f, 8.0f});
-    CORRADE_COMPARE(m.invertedEuclidean(), Matrix3());
-    CORRADE_COMPARE(o.str(), "Math::Matrix3::invertedEuclidean(): unexpected values on last row\n");
-
-    o.str({});
-    CORRADE_COMPARE(Matrix3::scaling(Vector2(2.0f)).invertedEuclidean(), Matrix3());
-    CORRADE_COMPARE(o.str(), "Math::Matrix3::invertedEuclidean(): the matrix doesn't represent Euclidean transformation\n");
-
     Matrix3 actual = Matrix3::rotation(Deg(-74.0f))*
                      Matrix3::reflection(Vector2(0.5f, -2.0f).normalized())*
                      Matrix3::translation({2.0f, -3.0f});
@@ -292,8 +279,13 @@ void Matrix3Test::invertedEuclidean() {
                        Matrix3::reflection(Vector2(0.5f, -2.0f).normalized())*
                        Matrix3::rotation(Deg(74.0f));
 
-    CORRADE_COMPARE(actual.invertedEuclidean(), expected);
+    std::ostringstream o;
-    CORRADE_COMPARE(actual.invertedEuclidean(), actual.inverted());
+    Error::setOutput(&o);
+    (2*actual).invertedRigid();
+    CORRADE_COMPARE(o.str(), "Math::Matrix3::invertedRigid(): the matrix doesn't represent rigid transformation\n");
+
+    CORRADE_COMPARE(actual.invertedRigid(), expected);
+    CORRADE_COMPARE(actual.invertedRigid(), actual.inverted());
 }
 
 void Matrix3Test::transform() {

src/Math/Test/Matrix4Test.cpp

@@ -56,7 +56,7 @@ class Matrix4Test: public Corrade::TestSuite::Tester {
         void rotationScalingPart();
         void rotationPart();
         void vectorParts();
-        void invertedEuclidean();
+        void invertedRigid();
         void transform();
 
         void debug();
@@ -93,7 +93,7 @@ Matrix4Test::Matrix4Test() {
               &Matrix4Test::rotationScalingPart,
               &Matrix4Test::rotationPart,
               &Matrix4Test::vectorParts,
-              &Matrix4Test::invertedEuclidean,
+              &Matrix4Test::invertedRigid,
               &Matrix4Test::transform,
 
               &Matrix4Test::debug,
@@ -355,21 +355,7 @@ void Matrix4Test::vectorParts() {
     CORRADE_COMPARE(translation, Vector3(-5.0f, 12.0f, 0.5f));
 }
 
-void Matrix4Test::invertedEuclidean() {
+void Matrix4Test::invertedRigid() {
-    std::ostringstream o;
-    Error::setOutput(&o);
-
-    Matrix4 m({3.0f,  5.0f, 8.0f, 4.0f},
-              {4.0f,  4.0f, 7.0f, 3.0f},
-              {7.0f, -1.0f, 8.0f, 0.0f},
-              {9.0f,  4.0f, 5.0f, 9.0f});
-    CORRADE_COMPARE(m.invertedEuclidean(), Matrix4());
-    CORRADE_COMPARE(o.str(), "Math::Matrix4::invertedEuclidean(): unexpected values on last row\n");
-
-    o.str({});
-    CORRADE_COMPARE(Matrix4::scaling(Vector3(2.0f)).invertedEuclidean(), Matrix4());
-    CORRADE_COMPARE(o.str(), "Math::Matrix4::invertedEuclidean(): the matrix doesn't represent Euclidean transformation\n");
-
     Matrix4 actual = Matrix4::rotation(Deg(-74.0f), Vector3(-1.0f, 0.5f, 2.0f).normalized())*
                      Matrix4::reflection(Vector3(0.5f, -2.0f, 2.0f).normalized())*
                      Matrix4::translation({1.0f, 2.0f, -3.0f});
@@ -377,8 +363,13 @@ void Matrix4Test::invertedEuclidean() {
                        Matrix4::reflection(Vector3(0.5f, -2.0f, 2.0f).normalized())*
                        Matrix4::rotation(Deg(74.0f), Vector3(-1.0f, 0.5f, 2.0f).normalized());
 
-    CORRADE_COMPARE(actual.invertedEuclidean(), expected);
+    std::ostringstream o;
-    CORRADE_COMPARE(actual.invertedEuclidean(), actual.inverted());
+    Error::setOutput(&o);
+    (2*actual).invertedRigid();
+    CORRADE_COMPARE(o.str(), "Math::Matrix4::invertedRigid(): the matrix doesn't represent rigid transformation\n");
+
+    CORRADE_COMPARE(actual.invertedRigid(), expected);
+    CORRADE_COMPARE(actual.invertedRigid(), actual.inverted());
 }
 
 void Matrix4Test::transform() {

src/Math/Test/MatrixTest.cpp

@@ -46,6 +46,7 @@ class MatrixTest: public Corrade::TestSuite::Tester {
         void ij();
         void determinant();
         void inverted();
+        void invertedOrthogonal();
 
         void debug();
         void configuration();
@@ -57,6 +58,7 @@ typedef Matrix<3, Float> Matrix3;
 typedef Vector<4, Float> Vector4;
 typedef Vector<4, Int> Vector4i;
 typedef Vector<3, Float> Vector3;
+typedef Math::Constants<Float> Constants;
 
 MatrixTest::MatrixTest() {
     addTests({&MatrixTest::construct,
@@ -71,6 +73,7 @@ MatrixTest::MatrixTest() {
               &MatrixTest::ij,
               &MatrixTest::determinant,
               &MatrixTest::inverted,
+              &MatrixTest::invertedOrthogonal,
               &MatrixTest::debug,
               &MatrixTest::configuration});
 }
@@ -209,6 +212,20 @@ void MatrixTest::inverted() {
     CORRADE_COMPARE(_inverse*m, Matrix4());
 }
 
+void MatrixTest::invertedOrthogonal() {
+    std::ostringstream o;
+    Error::setOutput(&o);
+
+    Matrix3 a(Vector3(Constants::sqrt3()/2.0f, 0.5f, 0.0f),
+              Vector3(-0.5f, Constants::sqrt3()/2.0f, 0.0f),
+              Vector3(0.0f, 0.0f, 1.0f));
+    (a*2).invertedOrthogonal();
+    CORRADE_COMPARE(o.str(), "Math::Matrix::invertedOrthogonal(): the matrix is not orthogonal\n");
+
+    CORRADE_COMPARE(a.invertedOrthogonal()*a, Matrix3());
+    CORRADE_COMPARE(a.invertedOrthogonal(), a.inverted());
+}
+
 void MatrixTest::debug() {
     Matrix4 m(Vector4(3.0f,  5.0f, 8.0f, 4.0f),
               Vector4(4.0f,  4.0f, 7.0f, 3.0f),

src/SceneGraph/EuclideanMatrixTransformation2D.h

@@ -68,7 +68,7 @@ class EuclideanMatrixTransformation2D: public AbstractTranslationRotation2D<T> {
         }
 
         inline static Math::Matrix3<T> inverted(const Math::Matrix3<T>& transformation) {
-            return transformation.invertedEuclidean();
+            return transformation.invertedRigid();
         }
 
         inline Math::Matrix3<T> transformation() const {

src/SceneGraph/EuclideanMatrixTransformation3D.h

@@ -68,7 +68,7 @@ class EuclideanMatrixTransformation3D: public AbstractTranslationRotation3D<T> {
         }
 
         inline static Math::Matrix4<T> inverted(const Math::Matrix4<T>& transformation) {
-            return transformation.invertedEuclidean();
+            return transformation.invertedRigid();
         }
 
         inline Math::Matrix4<T> transformation() const {