matrix3.h
00001 /* 00002 Copyright (C) 1998,1999,2000 by Jorrit Tyberghein 00003 Largely rewritten by Ivan Avramovic <ivan@avramovic.com> 00004 00005 This library is free software; you can redistribute it and/or 00006 modify it under the terms of the GNU Library General Public 00007 License as published by the Free Software Foundation; either 00008 version 2 of the License, or (at your option) any later version. 00009 00010 This library is distributed in the hope that it will be useful, 00011 but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00013 Library General Public License for more details. 00014 00015 You should have received a copy of the GNU Library General Public 00016 License along with this library; if not, write to the Free 00017 Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00018 */ 00019 00020 #ifndef __CS_MATRIX3_H__ 00021 #define __CS_MATRIX3_H__ 00022 00023 #ifndef __CS_CSSYSDEFS_H__ 00024 #error "cssysdef.h must be included in EVERY source file!" 00025 #endif 00026 00027 #include "csgeom/vector3.h" 00028 00029 class csQuaternion; 00030 00034 class csMatrix3 00035 { 00036 public: 00037 float m11, m12, m13; 00038 float m21, m22, m23; 00039 float m31, m32, m33; 00040 00041 public: 00043 csMatrix3 () 00044 : m11(1), m12(0), m13(0), 00045 m21(0), m22(1), m23(0), 00046 m31(0), m32(0), m33(1) 00047 {} 00048 00050 csMatrix3 (float am11, float am12, float am13, 00051 float am21, float am22, float am23, 00052 float am31, float am32, float am33) 00053 : m11(am11), m12(am12), m13(am13), 00054 m21(am21), m22(am22), m23(am23), 00055 m31(am31), m32(am32), m33(am33) 00056 {} 00057 00059 explicit csMatrix3 (const csQuaternion &quat) { Set (quat); } 00060 00062 inline csVector3 Row1() const { return csVector3 (m11,m12,m13); } 00063 00065 inline csVector3 Row2() const { return csVector3 (m21,m22,m23); } 00066 00068 inline csVector3 Row3() const { return csVector3 (m31,m32,m33); } 00069 00071 inline csVector3 Col1() const { return csVector3 (m11,m21,m31); } 00072 00074 inline csVector3 Col2() const { return csVector3 (m12,m22,m32); } 00075 00077 inline csVector3 Col3() const { return csVector3 (m13,m23,m33); } 00078 00080 inline void Set (float m11, float m12, float m13, 00081 float m21, float m22, float m23, 00082 float m31, float m32, float m33) 00083 { 00084 csMatrix3::m11 = m11; csMatrix3::m12 = m12; csMatrix3::m13 = m13; 00085 csMatrix3::m21 = m21; csMatrix3::m22 = m22; csMatrix3::m23 = m23; 00086 csMatrix3::m31 = m31; csMatrix3::m32 = m32; csMatrix3::m33 = m33; 00087 } 00088 00090 void Set (const csQuaternion &quat); 00091 00093 csMatrix3& operator+= (const csMatrix3& m); 00094 00096 csMatrix3& operator-= (const csMatrix3& m); 00097 00099 csMatrix3& operator*= (const csMatrix3& m); 00100 00102 csMatrix3& operator*= (float s); 00103 00105 csMatrix3& operator/= (float s); 00106 00108 inline csMatrix3 operator+ () const { return *this; } 00110 inline csMatrix3 operator- () const 00111 { 00112 return csMatrix3(-m11,-m12,-m13, 00113 -m21,-m22,-m23, 00114 -m31,-m32,-m33); 00115 } 00116 00118 void Transpose (); 00119 00121 csMatrix3 GetTranspose () const; 00122 00124 inline csMatrix3 GetInverse () const 00125 { 00126 csMatrix3 C( 00127 (m22*m33 - m23*m32), -(m12*m33 - m13*m32), (m12*m23 - m13*m22), 00128 -(m21*m33 - m23*m31), (m11*m33 - m13*m31), -(m11*m23 - m13*m21), 00129 (m21*m32 - m22*m31), -(m11*m32 - m12*m31), (m11*m22 - m12*m21) ); 00130 float s = (float)1./(m11*C.m11 + m12*C.m21 + m13*C.m31); 00131 00132 C *= s; 00133 00134 return C; 00135 } 00136 00138 void Invert() { *this = GetInverse (); } 00139 00141 float Determinant () const; 00142 00144 void Identity (); 00145 00147 bool IsIdentity () const; 00148 00150 friend csMatrix3 operator+ (const csMatrix3& m1, const csMatrix3& m2); 00152 friend csMatrix3 operator- (const csMatrix3& m1, const csMatrix3& m2); 00154 friend csMatrix3 operator* (const csMatrix3& m1, const csMatrix3& m2); 00155 00157 inline friend csVector3 operator* (const csMatrix3& m, const csVector3& v) 00158 { 00159 return csVector3 (m.m11*v.x + m.m12*v.y + m.m13*v.z, 00160 m.m21*v.x + m.m22*v.y + m.m23*v.z, 00161 m.m31*v.x + m.m32*v.y + m.m33*v.z); 00162 } 00163 00165 friend csMatrix3 operator* (const csMatrix3& m, float f); 00167 friend csMatrix3 operator* (float f, const csMatrix3& m); 00169 friend csMatrix3 operator/ (const csMatrix3& m, float f); 00171 friend bool operator== (const csMatrix3& m1, const csMatrix3& m2); 00173 friend bool operator!= (const csMatrix3& m1, const csMatrix3& m2); 00175 friend bool operator< (const csMatrix3& m, float f); 00177 friend bool operator> (float f, const csMatrix3& m); 00178 }; 00179 00181 class csXRotMatrix3 : public csMatrix3 00182 { 00183 public: 00188 csXRotMatrix3 (float angle); 00189 }; 00190 00192 class csYRotMatrix3 : public csMatrix3 00193 { 00194 public: 00199 csYRotMatrix3 (float angle); 00200 }; 00201 00203 class csZRotMatrix3 : public csMatrix3 00204 { 00205 public: 00210 csZRotMatrix3 (float angle); 00211 }; 00212 00214 class csXScaleMatrix3 : public csMatrix3 00215 { 00216 public: 00220 csXScaleMatrix3 (float scaler) : csMatrix3(scaler, 0, 0, 0, 1, 0, 0, 0, 1) {} 00221 }; 00222 00224 class csYScaleMatrix3 : public csMatrix3 00225 { 00226 public: 00230 csYScaleMatrix3 (float scaler) : csMatrix3(1, 0, 0, 0, scaler, 0, 0, 0, 1) {} 00231 }; 00232 00234 class csZScaleMatrix3 : public csMatrix3 00235 { 00236 public: 00240 csZScaleMatrix3 (float scaler) : csMatrix3(1, 0, 0, 0, 1, 0, 0, 0, scaler) {} 00241 }; 00242 00243 #endif // __CS_MATRIX3_H__
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