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Matrix3x3 Class Reference

#include <IceMatrix3x3.h>

Public Member Functions

inline_ Matrix3x3 ()
 Empty constructor. More...
 
inline_ Matrix3x3 (float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
 Constructor from 9 values. More...
 
inline_ Matrix3x3 (const Matrix3x3 &mat)
 Copy constructor. More...
 
inline_ ~Matrix3x3 ()
 Destructor. More...
 
inline_ void Set (float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
 Assign values. More...
 
inline_ void SetScale (const Point &p)
 Sets the scale from a Point. The point is put on the diagonal. More...
 
inline_ void SetScale (float sx, float sy, float sz)
 Sets the scale from floats. Values are put on the diagonal. More...
 
inline_ void Scale (const Point &p)
 Scales from a Point. Each row is multiplied by a component. More...
 
inline_ void Scale (float sx, float sy, float sz)
 Scales from floats. Each row is multiplied by a value. More...
 
inline_ void Copy (const Matrix3x3 &source)
 Copy from a Matrix3x3. More...
 
inline_ void GetRow (const udword r, Point &p) const
 Returns a row. More...
 
inline_ const Point & GetRow (const udword r) const
 Returns a row. More...
 
inline_ Point & GetRow (const udword r)
 Returns a row. More...
 
inline_ void SetRow (const udword r, const Point &p)
 Sets a row. More...
 
inline_ void GetCol (const udword c, Point &p) const
 Returns a column. More...
 
inline_ void SetCol (const udword c, const Point &p)
 Sets a column. More...
 
inline_ float Trace () const
 Computes the trace. The trace is the sum of the 3 diagonal components. More...
 
inline_ void Zero ()
 Clears the matrix. More...
 
inline_ void Identity ()
 Sets the identity matrix. More...
 
inline_ bool IsIdentity () const
 Checks for identity. More...
 
inline_ BOOL IsValid () const
 Checks matrix validity. More...
 
inline_ void SkewSymmetric (const Point &a)
 
inline_ void Neg ()
 Negates the matrix. More...
 
inline_ void Neg (const Matrix3x3 &mat)
 Neg from another matrix. More...
 
inline_ void Add (const Matrix3x3 &mat)
 Add another matrix. More...
 
inline_ void Sub (const Matrix3x3 &mat)
 Sub another matrix. More...
 
inline_ void Mac (const Matrix3x3 &a, const Matrix3x3 &b, float s)
 Mac. More...
 
inline_ void Mac (const Matrix3x3 &a, float s)
 Mac. More...
 
inline_ void Mult (const Matrix3x3 &a, float s)
 this = A * s More...
 
inline_ void Add (const Matrix3x3 &a, const Matrix3x3 &b)
 
inline_ void Sub (const Matrix3x3 &a, const Matrix3x3 &b)
 
inline_ void Mult (const Matrix3x3 &a, const Matrix3x3 &b)
 this = a * b More...
 
inline_ void MultAtB (const Matrix3x3 &a, const Matrix3x3 &b)
 this = transpose(a) * b More...
 
inline_ void MultABt (const Matrix3x3 &a, const Matrix3x3 &b)
 this = a * transpose(b) More...
 
Matrix3x3 & FromTo (const Point &from, const Point &to)
 Makes a rotation matrix mapping vector "from" to vector "to". More...
 
void RotX (float angle)
 
void RotY (float angle)
 
void RotZ (float angle)
 
void RotYX (float y, float x)
 
Matrix3x3 & Rot (float angle, const Point &axis)
 Make a rotation matrix about an arbitrary axis. More...
 
void Transpose ()
 Transpose the matrix. More...
 
void Transpose (const Matrix3x3 &a)
 this = Transpose(a) More...
 
float Determinant () const
 Compute the determinant of the matrix. We use the rule of Sarrus. More...
 
Matrix3x3 & Invert ()
 Invert the matrix. Determinant must be different from zero, else matrix can't be inverted. More...
 
Matrix3x3 & Normalize ()
 
Matrix3x3 & Exp (const Matrix3x3 &a)
 this = exp(a) More...
 
void FromQuat (const Quat &q)
 
void FromQuatL2 (const Quat &q, float l2)
 
inline_ Matrix3x3 operator+ (const Matrix3x3 &mat) const
 Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3;. More...
 
inline_ Matrix3x3 operator- (const Matrix3x3 &mat) const
 Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3;. More...
 
inline_ Matrix3x3 operator* (const Matrix3x3 &mat) const
 Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3;. More...
 
inline_ Point operator* (const Point &v) const
 Operator for Point Mul = Matrix3x3 * Point;. More...
 
inline_ Matrix3x3 operator* (float s) const
 Operator for Matrix3x3 Mul = Matrix3x3 * float;. More...
 
inline_ Matrix3x3 operator/ (float s) const
 Operator for Matrix3x3 Div = Matrix3x3 / float;. More...
 
inline_ Matrix3x3 & operator+= (const Matrix3x3 &mat)
 Operator for Matrix3x3 += Matrix3x3. More...
 
inline_ Matrix3x3 & operator-= (const Matrix3x3 &mat)
 Operator for Matrix3x3 -= Matrix3x3. More...
 
inline_ Matrix3x3 & operator*= (const Matrix3x3 &mat)
 Operator for Matrix3x3 *= Matrix3x3. More...
 
inline_ Matrix3x3 & operator*= (float s)
 Operator for Matrix3x3 *= float. More...
 
inline_ Matrix3x3 & operator/= (float s)
 Operator for Matrix3x3 /= float. More...
 
 operator Matrix4x4 () const
 Cast a Matrix3x3 to a Matrix4x4. More...
 
 operator Quat () const
 Cast a Matrix3x3 to a Quat. More...
 
inline_ const Point & operator[] (int row) const
 
inline_ Point & operator[] (int row)
 

Public Attributes

float m [3][3]
 

Friends

inline_ friend Matrix3x3 operator* (float s, const Matrix3x3 &mat)
 Operator for Matrix3x3 Mul = float * Matrix3x3;. More...
 
inline_ friend Matrix3x3 operator/ (float s, const Matrix3x3 &mat)
 Operator for Matrix3x3 Div = float / Matrix3x3;. More...
 

Detailed Description

3x3 matrix. DirectX-compliant, ie row-column order, ie m[Row][Col]. Same as: m11 m12 m13 first row. m21 m22 m23 second row. m31 m32 m33 third row. Stored in memory as m11 m12 m13 m21...

Multiplication rules:

[x'y'z'] = [xyz][M]

x' = x*m11 + y*m21 + z*m31 y' = x*m12 + y*m22 + z*m32 z' = x*m13 + y*m23 + z*m33

Author
Pierre Terdiman
Version
1.0

Definition at line 20 of file IceMatrix3x3.h.

Constructor & Destructor Documentation

inline_ Matrix3x3::Matrix3x3 ( )
inline

Empty constructor.

Definition at line 24 of file IceMatrix3x3.h.

24 {}
inline_ Matrix3x3::Matrix3x3 ( float  m00,
float  m01,
float  m02,
float  m10,
float  m11,
float  m12,
float  m20,
float  m21,
float  m22 
)
inline

Constructor from 9 values.

Definition at line 26 of file IceMatrix3x3.h.

27  {
28  m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
29  m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
30  m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
31  }
inline_ Matrix3x3::Matrix3x3 ( const Matrix3x3 &  mat)
inline

Copy constructor.

Definition at line 33 of file IceMatrix3x3.h.

References CopyMemory(), and m.

33 { CopyMemory(m, &mat.m, 9*sizeof(float)); }
inline_ Matrix3x3::~Matrix3x3 ( )
inline

Destructor.

Definition at line 35 of file IceMatrix3x3.h.

35 {}

Member Function Documentation

inline_ void Matrix3x3::Add ( const Matrix3x3 &  mat)
inline

Add another matrix.

Definition at line 159 of file IceMatrix3x3.h.

References m.

160  {
161  m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2];
162  m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2];
163  m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2];
164  }
inline_ void Matrix3x3::Add ( const Matrix3x3 &  a,
const Matrix3x3 &  b 
)
inline

Definition at line 204 of file IceMatrix3x3.h.

References m.

205  {
206  m[0][0] = a.m[0][0] + b.m[0][0]; m[0][1] = a.m[0][1] + b.m[0][1]; m[0][2] = a.m[0][2] + b.m[0][2];
207  m[1][0] = a.m[1][0] + b.m[1][0]; m[1][1] = a.m[1][1] + b.m[1][1]; m[1][2] = a.m[1][2] + b.m[1][2];
208  m[2][0] = a.m[2][0] + b.m[2][0]; m[2][1] = a.m[2][1] + b.m[2][1]; m[2][2] = a.m[2][2] + b.m[2][2];
209  }
inline_ void Matrix3x3::Copy ( const Matrix3x3 &  source)
inline

Copy from a Matrix3x3.

Definition at line 68 of file IceMatrix3x3.h.

References CopyMemory(), and m.

68 { CopyMemory(m, source.m, 9*sizeof(float)); }
float Matrix3x3::Determinant ( ) const
inline

Compute the determinant of the matrix. We use the rule of Sarrus.

Definition at line 303 of file IceMatrix3x3.h.

304  {
305  return (m[0][0]*m[1][1]*m[2][2] + m[0][1]*m[1][2]*m[2][0] + m[0][2]*m[1][0]*m[2][1])
306  - (m[2][0]*m[1][1]*m[0][2] + m[2][1]*m[1][2]*m[0][0] + m[2][2]*m[1][0]*m[0][1]);
307  }
Matrix3x3& Matrix3x3::Exp ( const Matrix3x3 &  a)

this = exp(a)

void Matrix3x3::FromQuat ( const Quat &  q)
void Matrix3x3::FromQuatL2 ( const Quat &  q,
float  l2 
)
Matrix3x3& Matrix3x3::FromTo ( const Point &  from,
const Point &  to 
)

Makes a rotation matrix mapping vector "from" to vector "to".

inline_ void Matrix3x3::GetCol ( const udword  c,
Point &  p 
) const
inline

Returns a column.

Definition at line 80 of file IceMatrix3x3.h.

References c, Point::x, Point::y, and Point::z.

80 { p.x = m[0][c]; p.y = m[1][c]; p.z = m[2][c]; }
inline_ void Matrix3x3::GetRow ( const udword  r,
Point &  p 
) const
inline

Returns a row.

Definition at line 72 of file IceMatrix3x3.h.

References Point::x, Point::y, and Point::z.

72 { p.x = m[r][0]; p.y = m[r][1]; p.z = m[r][2]; }
inline_ const Point& Matrix3x3::GetRow ( const udword  r) const
inline

Returns a row.

Definition at line 74 of file IceMatrix3x3.h.

74 { return *(const Point*)&m[r][0]; }
inline_ Point& Matrix3x3::GetRow ( const udword  r)
inline

Returns a row.

Definition at line 76 of file IceMatrix3x3.h.

76 { return *(Point*)&m[r][0]; }
inline_ void Matrix3x3::Identity ( )
inline

Sets the identity matrix.

Definition at line 89 of file IceMatrix3x3.h.

References Zero().

89 { Zero(); m[0][0] = m[1][1] = m[2][2] = 1.0f; }
Matrix3x3& Matrix3x3::Invert ( )
inline

Invert the matrix. Determinant must be different from zero, else matrix can't be inverted.

Definition at line 317 of file IceMatrix3x3.h.

References m.

318  {
319  float Det = Determinant(); // Must be !=0
320  float OneOverDet = 1.0f / Det;
321 
322  Matrix3x3 Temp;
323  Temp.m[0][0] = +(m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDet;
324  Temp.m[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDet;
325  Temp.m[2][0] = +(m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDet;
326  Temp.m[0][1] = -(m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDet;
327  Temp.m[1][1] = +(m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDet;
328  Temp.m[2][1] = -(m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDet;
329  Temp.m[0][2] = +(m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDet;
330  Temp.m[1][2] = -(m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDet;
331  Temp.m[2][2] = +(m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDet;
332 
333  *this = Temp;
334 
335  return *this;
336  }
inline_ bool Matrix3x3::IsIdentity ( ) const
inline

Checks for identity.

Definition at line 91 of file IceMatrix3x3.h.

References IEEE_1_0, and IR.

92  {
93  if(IR(m[0][0])!=IEEE_1_0) return false;
94  if(IR(m[0][1])!=0) return false;
95  if(IR(m[0][2])!=0) return false;
96 
97  if(IR(m[1][0])!=0) return false;
98  if(IR(m[1][1])!=IEEE_1_0) return false;
99  if(IR(m[1][2])!=0) return false;
100 
101  if(IR(m[2][0])!=0) return false;
102  if(IR(m[2][1])!=0) return false;
103  if(IR(m[2][2])!=IEEE_1_0) return false;
104 
105  return true;
106  }
inline_ BOOL Matrix3x3::IsValid ( ) const
inline

Checks matrix validity.

Definition at line 109 of file IceMatrix3x3.h.

References FALSE, i, IsValidFloat(), j, and TRUE.

110  {
111  for(udword j=0;j<3;j++)
112  {
113  for(udword i=0;i<3;i++)
114  {
115  if(!IsValidFloat(m[j][i])) return FALSE;
116  }
117  }
118  return TRUE;
119  }
inline_ void Matrix3x3::Mac ( const Matrix3x3 &  a,
const Matrix3x3 &  b,
float  s 
)
inline

Mac.

Definition at line 174 of file IceMatrix3x3.h.

References m.

175  {
176  m[0][0] = a.m[0][0] + b.m[0][0] * s;
177  m[0][1] = a.m[0][1] + b.m[0][1] * s;
178  m[0][2] = a.m[0][2] + b.m[0][2] * s;
179 
180  m[1][0] = a.m[1][0] + b.m[1][0] * s;
181  m[1][1] = a.m[1][1] + b.m[1][1] * s;
182  m[1][2] = a.m[1][2] + b.m[1][2] * s;
183 
184  m[2][0] = a.m[2][0] + b.m[2][0] * s;
185  m[2][1] = a.m[2][1] + b.m[2][1] * s;
186  m[2][2] = a.m[2][2] + b.m[2][2] * s;
187  }
inline_ void Matrix3x3::Mac ( const Matrix3x3 &  a,
float  s 
)
inline

Mac.

Definition at line 189 of file IceMatrix3x3.h.

References m.

190  {
191  m[0][0] += a.m[0][0] * s; m[0][1] += a.m[0][1] * s; m[0][2] += a.m[0][2] * s;
192  m[1][0] += a.m[1][0] * s; m[1][1] += a.m[1][1] * s; m[1][2] += a.m[1][2] * s;
193  m[2][0] += a.m[2][0] * s; m[2][1] += a.m[2][1] * s; m[2][2] += a.m[2][2] * s;
194  }
inline_ void Matrix3x3::Mult ( const Matrix3x3 &  a,
float  s 
)
inline

this = A * s

Definition at line 197 of file IceMatrix3x3.h.

References m.

198  {
199  m[0][0] = a.m[0][0] * s; m[0][1] = a.m[0][1] * s; m[0][2] = a.m[0][2] * s;
200  m[1][0] = a.m[1][0] * s; m[1][1] = a.m[1][1] * s; m[1][2] = a.m[1][2] * s;
201  m[2][0] = a.m[2][0] * s; m[2][1] = a.m[2][1] * s; m[2][2] = a.m[2][2] * s;
202  }
inline_ void Matrix3x3::Mult ( const Matrix3x3 &  a,
const Matrix3x3 &  b 
)
inline

this = a * b

Definition at line 219 of file IceMatrix3x3.h.

References m.

220  {
221  m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[1][0] + a.m[0][2] * b.m[2][0];
222  m[0][1] = a.m[0][0] * b.m[0][1] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[2][1];
223  m[0][2] = a.m[0][0] * b.m[0][2] + a.m[0][1] * b.m[1][2] + a.m[0][2] * b.m[2][2];
224  m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[1][2] * b.m[2][0];
225  m[1][1] = a.m[1][0] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[2][1];
226  m[1][2] = a.m[1][0] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[1][2] * b.m[2][2];
227  m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[1][0] + a.m[2][2] * b.m[2][0];
228  m[2][1] = a.m[2][0] * b.m[0][1] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[2][1];
229  m[2][2] = a.m[2][0] * b.m[0][2] + a.m[2][1] * b.m[1][2] + a.m[2][2] * b.m[2][2];
230  }
inline_ void Matrix3x3::MultABt ( const Matrix3x3 &  a,
const Matrix3x3 &  b 
)
inline

this = a * transpose(b)

Definition at line 247 of file IceMatrix3x3.h.

References m.

248  {
249  m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[0][1] + a.m[0][2] * b.m[0][2];
250  m[0][1] = a.m[0][0] * b.m[1][0] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[1][2];
251  m[0][2] = a.m[0][0] * b.m[2][0] + a.m[0][1] * b.m[2][1] + a.m[0][2] * b.m[2][2];
252  m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[0][1] + a.m[1][2] * b.m[0][2];
253  m[1][1] = a.m[1][0] * b.m[1][0] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[1][2];
254  m[1][2] = a.m[1][0] * b.m[2][0] + a.m[1][1] * b.m[2][1] + a.m[1][2] * b.m[2][2];
255  m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[0][1] + a.m[2][2] * b.m[0][2];
256  m[2][1] = a.m[2][0] * b.m[1][0] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[1][2];
257  m[2][2] = a.m[2][0] * b.m[2][0] + a.m[2][1] * b.m[2][1] + a.m[2][2] * b.m[2][2];
258  }
inline_ void Matrix3x3::MultAtB ( const Matrix3x3 &  a,
const Matrix3x3 &  b 
)
inline

this = transpose(a) * b

Definition at line 233 of file IceMatrix3x3.h.

References m.

234  {
235  m[0][0] = a.m[0][0] * b.m[0][0] + a.m[1][0] * b.m[1][0] + a.m[2][0] * b.m[2][0];
236  m[0][1] = a.m[0][0] * b.m[0][1] + a.m[1][0] * b.m[1][1] + a.m[2][0] * b.m[2][1];
237  m[0][2] = a.m[0][0] * b.m[0][2] + a.m[1][0] * b.m[1][2] + a.m[2][0] * b.m[2][2];
238  m[1][0] = a.m[0][1] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[2][1] * b.m[2][0];
239  m[1][1] = a.m[0][1] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[2][1] * b.m[2][1];
240  m[1][2] = a.m[0][1] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[2][1] * b.m[2][2];
241  m[2][0] = a.m[0][2] * b.m[0][0] + a.m[1][2] * b.m[1][0] + a.m[2][2] * b.m[2][0];
242  m[2][1] = a.m[0][2] * b.m[0][1] + a.m[1][2] * b.m[1][1] + a.m[2][2] * b.m[2][1];
243  m[2][2] = a.m[0][2] * b.m[0][2] + a.m[1][2] * b.m[1][2] + a.m[2][2] * b.m[2][2];
244  }
inline_ void Matrix3x3::Neg ( )
inline

Negates the matrix.

Definition at line 143 of file IceMatrix3x3.h.

144  {
145  m[0][0] = -m[0][0]; m[0][1] = -m[0][1]; m[0][2] = -m[0][2];
146  m[1][0] = -m[1][0]; m[1][1] = -m[1][1]; m[1][2] = -m[1][2];
147  m[2][0] = -m[2][0]; m[2][1] = -m[2][1]; m[2][2] = -m[2][2];
148  }
inline_ void Matrix3x3::Neg ( const Matrix3x3 &  mat)
inline

Neg from another matrix.

Definition at line 151 of file IceMatrix3x3.h.

References m.

152  {
153  m[0][0] = -mat.m[0][0]; m[0][1] = -mat.m[0][1]; m[0][2] = -mat.m[0][2];
154  m[1][0] = -mat.m[1][0]; m[1][1] = -mat.m[1][1]; m[1][2] = -mat.m[1][2];
155  m[2][0] = -mat.m[2][0]; m[2][1] = -mat.m[2][1]; m[2][2] = -mat.m[2][2];
156  }
Matrix3x3& Matrix3x3::Normalize ( )
Matrix3x3::operator Matrix4x4 ( ) const

Cast a Matrix3x3 to a Matrix4x4.

Matrix3x3::operator Quat ( ) const

Cast a Matrix3x3 to a Quat.

inline_ Matrix3x3 Matrix3x3::operator* ( const Matrix3x3 &  mat) const
inline

Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3;.

Definition at line 366 of file IceMatrix3x3.h.

References m.

367  {
368  return Matrix3x3(
369  m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0],
370  m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1],
371  m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2],
372 
373  m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0],
374  m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1],
375  m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2],
376 
377  m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0],
378  m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1],
379  m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2]);
380  }
inline_ Point Matrix3x3::operator* ( const Point &  v) const
inline

Operator for Point Mul = Matrix3x3 * Point;.

Definition at line 383 of file IceMatrix3x3.h.

383 { return Point(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v); }
inline_ Matrix3x3 Matrix3x3::operator* ( float  s) const
inline

Operator for Matrix3x3 Mul = Matrix3x3 * float;.

Definition at line 386 of file IceMatrix3x3.h.

387  {
388  return Matrix3x3(
389  m[0][0]*s, m[0][1]*s, m[0][2]*s,
390  m[1][0]*s, m[1][1]*s, m[1][2]*s,
391  m[2][0]*s, m[2][1]*s, m[2][2]*s);
392  }
inline_ Matrix3x3& Matrix3x3::operator*= ( const Matrix3x3 &  mat)
inline

Operator for Matrix3x3 *= Matrix3x3.

Definition at line 441 of file IceMatrix3x3.h.

References m, Point::x, Point::y, and Point::z.

442  {
443  Point TempRow;
444 
445  GetRow(0, TempRow);
446  m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0];
447  m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1];
448  m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2];
449 
450  GetRow(1, TempRow);
451  m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0];
452  m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1];
453  m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2];
454 
455  GetRow(2, TempRow);
456  m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0];
457  m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1];
458  m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2];
459  return *this;
460  }
inline_ Matrix3x3& Matrix3x3::operator*= ( float  s)
inline

Operator for Matrix3x3 *= float.

Definition at line 463 of file IceMatrix3x3.h.

464  {
465  m[0][0] *= s; m[0][1] *= s; m[0][2] *= s;
466  m[1][0] *= s; m[1][1] *= s; m[1][2] *= s;
467  m[2][0] *= s; m[2][1] *= s; m[2][2] *= s;
468  return *this;
469  }
inline_ Matrix3x3 Matrix3x3::operator+ ( const Matrix3x3 &  mat) const
inline

Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3;.

Definition at line 348 of file IceMatrix3x3.h.

References m.

349  {
350  return Matrix3x3(
351  m[0][0] + mat.m[0][0], m[0][1] + mat.m[0][1], m[0][2] + mat.m[0][2],
352  m[1][0] + mat.m[1][0], m[1][1] + mat.m[1][1], m[1][2] + mat.m[1][2],
353  m[2][0] + mat.m[2][0], m[2][1] + mat.m[2][1], m[2][2] + mat.m[2][2]);
354  }
inline_ Matrix3x3& Matrix3x3::operator+= ( const Matrix3x3 &  mat)
inline

Operator for Matrix3x3 += Matrix3x3.

Definition at line 423 of file IceMatrix3x3.h.

References m.

424  {
425  m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2];
426  m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2];
427  m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2];
428  return *this;
429  }
inline_ Matrix3x3 Matrix3x3::operator- ( const Matrix3x3 &  mat) const
inline

Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3;.

Definition at line 357 of file IceMatrix3x3.h.

References m.

358  {
359  return Matrix3x3(
360  m[0][0] - mat.m[0][0], m[0][1] - mat.m[0][1], m[0][2] - mat.m[0][2],
361  m[1][0] - mat.m[1][0], m[1][1] - mat.m[1][1], m[1][2] - mat.m[1][2],
362  m[2][0] - mat.m[2][0], m[2][1] - mat.m[2][1], m[2][2] - mat.m[2][2]);
363  }
inline_ Matrix3x3& Matrix3x3::operator-= ( const Matrix3x3 &  mat)
inline

Operator for Matrix3x3 -= Matrix3x3.

Definition at line 432 of file IceMatrix3x3.h.

References m.

433  {
434  m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2];
435  m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2];
436  m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2];
437  return *this;
438  }
inline_ Matrix3x3 Matrix3x3::operator/ ( float  s) const
inline

Operator for Matrix3x3 Div = Matrix3x3 / float;.

Definition at line 404 of file IceMatrix3x3.h.

405  {
406  if (s) s = 1.0f / s;
407  return Matrix3x3(
408  m[0][0]*s, m[0][1]*s, m[0][2]*s,
409  m[1][0]*s, m[1][1]*s, m[1][2]*s,
410  m[2][0]*s, m[2][1]*s, m[2][2]*s);
411  }
inline_ Matrix3x3& Matrix3x3::operator/= ( float  s)
inline

Operator for Matrix3x3 /= float.

Definition at line 472 of file IceMatrix3x3.h.

473  {
474  if (s) s = 1.0f / s;
475  m[0][0] *= s; m[0][1] *= s; m[0][2] *= s;
476  m[1][0] *= s; m[1][1] *= s; m[1][2] *= s;
477  m[2][0] *= s; m[2][1] *= s; m[2][2] *= s;
478  return *this;
479  }
inline_ const Point& Matrix3x3::operator[] ( int  row) const
inline

Definition at line 487 of file IceMatrix3x3.h.

487 { return *(const Point*)&m[row][0]; }
inline_ Point& Matrix3x3::operator[] ( int  row)
inline

Definition at line 488 of file IceMatrix3x3.h.

488 { return *(Point*)&m[row][0]; }
Matrix3x3& Matrix3x3::Rot ( float  angle,
const Point &  axis 
)

Make a rotation matrix about an arbitrary axis.

void Matrix3x3::RotX ( float  angle)

Set a rotation matrix around the X axis. 1 0 0 RX = 0 cx sx 0 -sx cx

void Matrix3x3::RotY ( float  angle)

Set a rotation matrix around the Y axis. cy 0 -sy RY = 0 1 0 sy 0 cy

void Matrix3x3::RotYX ( float  y,
float  x 
) 
    cy      sx.sy       -sy.cx

RY.RX 0 cx sx sy -sx.cy cx.cy

void Matrix3x3::RotZ ( float  angle)

Set a rotation matrix around the Z axis. cz sz 0 RZ = -sz cz 0 0 0 1

inline_ void Matrix3x3::Scale ( const Point &  p)
inline

Scales from a Point. Each row is multiplied by a component.

Definition at line 52 of file IceMatrix3x3.h.

References Point::x, Point::y, and Point::z.

Referenced by OBB::GetRotatedExtents().

53  {
54  m[0][0] *= p.x; m[0][1] *= p.x; m[0][2] *= p.x;
55  m[1][0] *= p.y; m[1][1] *= p.y; m[1][2] *= p.y;
56  m[2][0] *= p.z; m[2][1] *= p.z; m[2][2] *= p.z;
57  }
inline_ void Matrix3x3::Scale ( float  sx,
float  sy,
float  sz 
)
inline

Scales from floats. Each row is multiplied by a value.

Definition at line 60 of file IceMatrix3x3.h.

61  {
62  m[0][0] *= sx; m[0][1] *= sx; m[0][2] *= sx;
63  m[1][0] *= sy; m[1][1] *= sy; m[1][2] *= sy;
64  m[2][0] *= sz; m[2][1] *= sz; m[2][2] *= sz;
65  }
inline_ void Matrix3x3::Set ( float  m00,
float  m01,
float  m02,
float  m10,
float  m11,
float  m12,
float  m20,
float  m21,
float  m22 
)
inline

Assign values.

Definition at line 38 of file IceMatrix3x3.h.

39  {
40  m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
41  m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
42  m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
43  }
inline_ void Matrix3x3::SetCol ( const udword  c,
const Point &  p 
)
inline

Sets a column.

Definition at line 82 of file IceMatrix3x3.h.

References c, Point::x, Point::y, and Point::z.

82 { m[0][c] = p.x; m[1][c] = p.y; m[2][c] = p.z; }
inline_ void Matrix3x3::SetRow ( const udword  r,
const Point &  p 
)
inline

Sets a row.

Definition at line 78 of file IceMatrix3x3.h.

References Point::x, Point::y, and Point::z.

78 { m[r][0] = p.x; m[r][1] = p.y; m[r][2] = p.z; }
inline_ void Matrix3x3::SetScale ( const Point &  p)
inline

Sets the scale from a Point. The point is put on the diagonal.

Definition at line 46 of file IceMatrix3x3.h.

References Point::x, Point::y, and Point::z.

46 { m[0][0] = p.x; m[1][1] = p.y; m[2][2] = p.z; }
inline_ void Matrix3x3::SetScale ( float  sx,
float  sy,
float  sz 
)
inline

Sets the scale from floats. Values are put on the diagonal.

Definition at line 49 of file IceMatrix3x3.h.

49 { m[0][0] = sx; m[1][1] = sy; m[2][2] = sz; }
inline_ void Matrix3x3::SkewSymmetric ( const Point &  a)
inline

Makes a skew-symmetric matrix (a.k.a. Star(*) Matrix) [ 0.0 -a.z a.y ] [ a.z 0.0 -a.x ] [ -a.y a.x 0.0 ] This is also called a "cross matrix" since for any vectors A and B, A^B = Skew(A) * B = - B * Skew(A);

Definition at line 127 of file IceMatrix3x3.h.

References Point::x, Point::y, and Point::z.

128  {
129  m[0][0] = 0.0f;
130  m[0][1] = -a.z;
131  m[0][2] = a.y;
132 
133  m[1][0] = a.z;
134  m[1][1] = 0.0f;
135  m[1][2] = -a.x;
136 
137  m[2][0] = -a.y;
138  m[2][1] = a.x;
139  m[2][2] = 0.0f;
140  }
inline_ void Matrix3x3::Sub ( const Matrix3x3 &  mat)
inline

Sub another matrix.

Definition at line 167 of file IceMatrix3x3.h.

References m.

168  {
169  m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2];
170  m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2];
171  m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2];
172  }
inline_ void Matrix3x3::Sub ( const Matrix3x3 &  a,
const Matrix3x3 &  b 
)
inline

Definition at line 211 of file IceMatrix3x3.h.

References m.

212  {
213  m[0][0] = a.m[0][0] - b.m[0][0]; m[0][1] = a.m[0][1] - b.m[0][1]; m[0][2] = a.m[0][2] - b.m[0][2];
214  m[1][0] = a.m[1][0] - b.m[1][0]; m[1][1] = a.m[1][1] - b.m[1][1]; m[1][2] = a.m[1][2] - b.m[1][2];
215  m[2][0] = a.m[2][0] - b.m[2][0]; m[2][1] = a.m[2][1] - b.m[2][1]; m[2][2] = a.m[2][2] - b.m[2][2];
216  }
inline_ float Matrix3x3::Trace ( ) const
inline

Computes the trace. The trace is the sum of the 3 diagonal components.

Definition at line 85 of file IceMatrix3x3.h.

85 { return m[0][0] + m[1][1] + m[2][2]; }
void Matrix3x3::Transpose ( )
inline

Transpose the matrix.

Definition at line 287 of file IceMatrix3x3.h.

References IR.

288  {
289  IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]);
290  IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]);
291  IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]);
292  }
void Matrix3x3::Transpose ( const Matrix3x3 &  a)
inline

this = Transpose(a)

Definition at line 295 of file IceMatrix3x3.h.

References m.

296  {
297  m[0][0] = a.m[0][0]; m[0][1] = a.m[1][0]; m[0][2] = a.m[2][0];
298  m[1][0] = a.m[0][1]; m[1][1] = a.m[1][1]; m[1][2] = a.m[2][1];
299  m[2][0] = a.m[0][2]; m[2][1] = a.m[1][2]; m[2][2] = a.m[2][2];
300  }
inline_ void Matrix3x3::Zero ( )
inline

Clears the matrix.

Definition at line 87 of file IceMatrix3x3.h.

References ZeroMemory().

87 { ZeroMemory(&m, sizeof(m)); }

Friends And Related Function Documentation

inline_ friend Matrix3x3 operator* ( float  s,
const Matrix3x3 &  mat 
)
friend

Operator for Matrix3x3 Mul = float * Matrix3x3;.

Definition at line 395 of file IceMatrix3x3.h.

396  {
397  return Matrix3x3(
398  s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2],
399  s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2],
400  s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2]);
401  }
inline_ friend Matrix3x3 operator/ ( float  s,
const Matrix3x3 &  mat 
)
friend

Operator for Matrix3x3 Div = float / Matrix3x3;.

Definition at line 414 of file IceMatrix3x3.h.

415  {
416  return Matrix3x3(
417  s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2],
418  s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2],
419  s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2]);
420  }

Member Data Documentation

float Matrix3x3::m[3][3]

Definition at line 492 of file IceMatrix3x3.h.

Referenced by Add(), OBBCollider::BoxBoxOverlap(), Copy(), Invert(), Mac(), Matrix3x3(), Mult(), MultABt(), MultAtB(), Neg(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), Sub(), TransformPoint(), and Transpose().

The documentation for this class was generated from the following file: