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/********************************************************************************
* *
* S i n g l e - P r e c i s i o n 3 x 3 M a t r i x *
* *
*********************************************************************************
* Copyright (C) 2003,2022 by Jeroen van der Zijp. All Rights Reserved. *
*********************************************************************************
* This library is free software; you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 3 of the License, or *
* (at your option) any later version. *
* *
* 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 *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/> *
********************************************************************************/
#ifndef FXMAT3F_H
#define FXMAT3F_H
namespace FX {
class FXQuatf;
class FXMat2f;
class FXMat4f;
/// Single-precision 3x3 matrix
class FXAPI FXMat3f {
protected:
FXVec3f m[3];
public:
/// Default constructor; value is not initialized
FXMat3f(){}
/// Initialize matrix from scalar
FXMat3f(FXfloat s);
/// Initialize with 2x2 rotation and scale matrix
FXMat3f(const FXMat2f& s);
/// Initialize matrix from another matrix
FXMat3f(const FXMat3f& s);
/// Initialize from rotation and scaling part of 4x4 matrix
FXMat3f(const FXMat4f& s);
/// Initialize matrix from array
FXMat3f(const FXfloat s[]);
/// Initialize diagonal matrix
FXMat3f(FXfloat a,FXfloat b,FXfloat c);
/// Initialize matrix from components
FXMat3f(FXfloat a00,FXfloat a01,FXfloat a02,
FXfloat a10,FXfloat a11,FXfloat a12,
FXfloat a20,FXfloat a21,FXfloat a22);
/// Initialize matrix from three vectors
FXMat3f(const FXVec3f& a,const FXVec3f& b,const FXVec3f& c);
/// Initialize matrix from quaternion
FXMat3f(const FXQuatf& quat);
/// Assignment from scalar
FXMat3f& operator=(FXfloat s);
/// Assignment
FXMat3f& operator=(const FXMat2f& s);
FXMat3f& operator=(const FXMat3f& s);
FXMat3f& operator=(const FXMat4f& s);
/// Assignment from quaternion
FXMat3f& operator=(const FXQuatf& quat);
/// Assignment from array
FXMat3f& operator=(const FXfloat s[]);
/// Set value from scalar
FXMat3f& set(FXfloat s);
/// Set value from 2x2 rotation and scale matrix
FXMat3f& set(const FXMat2f& s);
/// Set value from another matrix
FXMat3f& set(const FXMat3f& s);
/// Set from rotation and scaling part of 4x4 matrix
FXMat3f& set(const FXMat4f& s);
/// Set value from array
FXMat3f& set(const FXfloat s[]);
/// Set diagonal matrix
FXMat3f& set(FXfloat a,FXfloat b,FXfloat c);
/// Set value from components
FXMat3f& set(FXfloat a00,FXfloat a01,FXfloat a02,
FXfloat a10,FXfloat a11,FXfloat a12,
FXfloat a20,FXfloat a21,FXfloat a22);
/// Set value from three vectors
FXMat3f& set(const FXVec3f& a,const FXVec3f& b,const FXVec3f& c);
/// Set value from quaternion
FXMat3f& set(const FXQuatf& quat);
/// Assignment operators
FXMat3f& operator+=(const FXMat3f& w);
FXMat3f& operator-=(const FXMat3f& w);
FXMat3f& operator*=(const FXMat3f& w);
FXMat3f& operator*=(FXfloat w);
FXMat3f& operator/=(FXfloat w);
/// Indexing
FXVec3f& operator[](FXint i){return m[i];}
const FXVec3f& operator[](FXint i) const {return m[i];}
/// Conversion
operator FXfloat*(){return m[0];}
operator const FXfloat*() const {return m[0];}
/// Unary minus
FXMat3f operator-() const;
/// Set to identity matrix
FXMat3f& identity();
/// Return true if identity matrix
FXbool isIdentity() const;
/// Multiply by rotation about unit-quaternion
FXMat3f& rot(const FXQuatf& q);
/// Multiply by rotation c,s about unit axis
FXMat3f& rot(const FXVec3f& v,FXfloat c,FXfloat s);
/// Multiply by rotation of phi about unit axis
FXMat3f& rot(const FXVec3f& v,FXfloat phi);
/// Multiply by x-rotation
FXMat3f& xrot(FXfloat c,FXfloat s);
FXMat3f& xrot(FXfloat phi);
/// Multiply by y-rotation
FXMat3f& yrot(FXfloat c,FXfloat s);
FXMat3f& yrot(FXfloat phi);
/// Multiply by z-rotation
FXMat3f& zrot(FXfloat c,FXfloat s);
FXMat3f& zrot(FXfloat phi);
/// Multiply by scaling
FXMat3f& scale(FXfloat sx,FXfloat sy,FXfloat sz);
FXMat3f& scale(const FXVec3f& v);
FXMat3f& scale(FXfloat s);
/// Determinant
FXfloat det() const;
/// Transpose
FXMat3f transpose() const;
/// Invert
FXMat3f invert() const;
/// Destructor
~FXMat3f(){}
};
/// Matrix times vector
extern FXAPI FXVec2f operator*(const FXMat3f& m,const FXVec2f& v);
extern FXAPI FXVec3f operator*(const FXMat3f& m,const FXVec3f& v);
/// Vector times matrix
extern FXAPI FXVec2f operator*(const FXVec2f& v,const FXMat3f& m);
extern FXAPI FXVec3f operator*(const FXVec3f& v,const FXMat3f& m);
/// Matrix and matrix addition
extern FXAPI FXMat3f operator+(const FXMat3f& a,const FXMat3f& b);
extern FXAPI FXMat3f operator-(const FXMat3f& a,const FXMat3f& b);
/// Matrix and matrix multiply
extern FXAPI FXMat3f operator*(const FXMat3f& a,const FXMat3f& b);
/// Scaling
extern FXAPI FXMat3f operator*(FXfloat x,const FXMat3f& a);
extern FXAPI FXMat3f operator*(const FXMat3f& a,FXfloat x);
extern FXAPI FXMat3f operator/(const FXMat3f& a,FXfloat x);
extern FXAPI FXMat3f operator/(FXfloat x,const FXMat3f& a);
/// Equality tests
extern FXAPI FXbool operator==(const FXMat3f& a,const FXMat3f& b);
extern FXAPI FXbool operator!=(const FXMat3f& a,const FXMat3f& b);
extern FXAPI FXbool operator==(const FXMat3f& a,FXfloat n);
extern FXAPI FXbool operator!=(const FXMat3f& a,FXfloat n);
extern FXAPI FXbool operator==(FXfloat n,const FXMat3f& a);
extern FXAPI FXbool operator!=(FXfloat n,const FXMat3f& a);
/// Orthogonalize matrix
extern FXAPI FXMat3f orthogonalize(const FXMat3f& m);
/// Save matrix to a stream
extern FXAPI FXStream& operator<<(FXStream& store,const FXMat3f& m);
/// Load matrix from a stream
extern FXAPI FXStream& operator>>(FXStream& store,FXMat3f& m);
}
#endif
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