110 lines
2.9 KiB
C
110 lines
2.9 KiB
C
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// Copyright (c) 2004-2011 Sundog Software, LLC. All rights reserved worldwide.
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/**
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\file Matrix3.h
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\brief Implements a 3x3 matrix and its operations.
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*/
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#ifdef SWIG
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%module TritonMatrix3
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%include "Vector3.h"
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#define TRITONAPI
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%{
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#include "Matrix3.h"
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using namespace Triton;
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%}
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#endif
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#ifndef TRITON_MATRIX3_H
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#define TRITON_MATRIX3_H
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#include "MemAlloc.h"
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#include "Vector3.h"
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#pragma pack(push)
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#pragma pack(8)
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namespace Triton
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{
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/** A simple 3x3 matrix class and its operations. */
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class Matrix3 : public MemObject
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{
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public:
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static Matrix3 Identity;
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/** Default contructor; performs no initialization for efficiency. */
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Matrix3() {
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}
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/** Constructor that instantiates the 3x3 matrix with initial values. */
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Matrix3(double e11, double e12, double e13,
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double e21, double e22, double e23,
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double e31, double e32, double e33) {
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elem[0][0] = e11;
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elem[0][1] = e12;
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elem[0][2] = e13;
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elem[1][0] = e21;
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elem[1][1] = e22, elem[1][2] = e23;
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elem[2][0] = e31, elem[2][1] = e32, elem[2][2] = e33;
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}
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/** Constructor that takes an array of 9 doubles in row-major order. */
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Matrix3(double *m) {
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int i = 0;
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for (int row = 0; row < 3; row++) {
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for (int col = 0; col < 3; col++) {
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elem[row][col] = m[i++];
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}
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}
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}
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/** Destructor. */
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~Matrix3() {
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}
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/** Returns a static 3x3 float array in row major order. */
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void TRITONAPI ToFloatArray(float val[9]) const {
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int i = 0;
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for (int row = 0; row < 3; row++) {
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for (int col = 0; col < 3; col++) {
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val[i++] = (float)elem[row][col];
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}
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}
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}
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/** Populates the matrix to model a rotation about the X axis by a given
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amount, in radians. */
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void TRITONAPI FromRx(double rad);
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/** Populates the matrix to model a rotation about the Y axis by a given
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amount, in radians. */
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void TRITONAPI FromRy(double rad);
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/** Populates the matrix to model a rotation about the Z axis by a give
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amount, in radians. */
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void TRITONAPI FromRz(double rad);
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/** Populates the matrix as a series of rotations about the X, Y, and Z
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axes (in that order) by specified amounts in radians. */
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void TRITONAPI FromXYZ(double Rx, double Ry, double Rz);
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/** Multiplies two matrices together. */
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Matrix3 TRITONAPI operator * (const Matrix3& mat);
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/** Multiplies the matrix by a vector, yielding another 3x1 vector. */
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Vector3 TRITONAPI operator* (const Vector3& rkVector) const;
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/** Multiplies a 1x3 vector by a matrix, yielding a 1x3 vector. */
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friend Vector3 TRITONAPI operator * (const Vector3& vec, const Matrix3& mat);
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/** Caculate the inverse of the matrix. */
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Matrix3 TRITONAPI Transpose() const;
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/// The data members are public for convenience.
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double elem[3][3];
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};
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}
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#pragma pack(pop)
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#endif
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