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matrix3.h

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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 
00029 #include "csextern.h"
00030 #include "csgeom/vector3.h"
00031 
00032 class csQuaternion;
00033 
00037 class CS_CSGEOM_EXPORT csMatrix3
00038 {
00039 public:
00040   float m11, m12, m13;
00041   float m21, m22, m23;
00042   float m31, m32, m33;
00043 
00044 public:
00046   csMatrix3 ()
00047       : m11(1), m12(0), m13(0),
00048         m21(0), m22(1), m23(0),
00049         m31(0), m32(0), m33(1)
00050   {}
00051 
00053   csMatrix3 (float am11, float am12, float am13,
00054              float am21, float am22, float am23,
00055              float am31, float am32, float am33)
00056       : m11(am11), m12(am12), m13(am13),
00057         m21(am21), m22(am22), m23(am23),
00058         m31(am31), m32(am32), m33(am33)
00059   {}
00060 
00062   csMatrix3 (csMatrix3 const& o) { Set(o); }
00063 
00065   csMatrix3 (float x,float y, float z, float angle);
00066 
00068   explicit csMatrix3 (const csQuaternion &quat) { Set (quat); }
00069 
00071   csVector3 Row1() const { return csVector3 (m11,m12,m13); }
00072 
00074   csVector3 Row2() const { return csVector3 (m21,m22,m23); }
00075 
00077   csVector3 Row3() const { return csVector3 (m31,m32,m33); }
00078 
00080   csVector3 Col1() const { return csVector3 (m11,m21,m31); }
00081 
00083   csVector3 Col2() const { return csVector3 (m12,m22,m32); }
00084 
00086   csVector3 Col3() const { return csVector3 (m13,m23,m33); }
00087 
00089   void Set (float o11, float o12, float o13,
00090             float o21, float o22, float o23,
00091             float o31, float o32, float o33)
00092   {
00093     m11 = o11; m12 = o12; m13 = o13;
00094     m21 = o21; m22 = o22; m23 = o23;
00095     m31 = o31; m32 = o32; m33 = o33;
00096   }
00097 
00098   void Set (csMatrix3 const &o)
00099   {
00100     m11 = o.m11; m12 = o.m12; m13 = o.m13;
00101     m21 = o.m21; m22 = o.m22; m23 = o.m23;
00102     m31 = o.m31; m32 = o.m32; m33 = o.m33;
00103   }
00104 
00106   void Set (const csQuaternion&);
00107 
00109   csMatrix3& operator= (const csMatrix3& o) { Set(o); return *this; }
00110 
00112   csMatrix3& operator+= (const csMatrix3&);
00113 
00115   csMatrix3& operator-= (const csMatrix3&);
00116 
00118   csMatrix3& operator*= (const csMatrix3&);
00119 
00121   csMatrix3& operator*= (float);
00122 
00124   csMatrix3& operator/= (float);
00125 
00127   csMatrix3 operator+ () const { return *this; }
00129   csMatrix3 operator- () const
00130   {
00131     return csMatrix3(-m11,-m12,-m13,
00132                      -m21,-m22,-m23,
00133                      -m31,-m32,-m33);
00134   }
00135 
00137   void Transpose ();
00138 
00140   csMatrix3 GetTranspose () const;
00141 
00143   csMatrix3 GetInverse () const
00144   {
00145     csMatrix3 C(
00146              (m22*m33 - m23*m32), -(m12*m33 - m13*m32),  (m12*m23 - m13*m22),
00147             -(m21*m33 - m23*m31),  (m11*m33 - m13*m31), -(m11*m23 - m13*m21),
00148              (m21*m32 - m22*m31), -(m11*m32 - m12*m31),  (m11*m22 - m12*m21));
00149     float s = (float)1./(m11*C.m11 + m12*C.m21 + m13*C.m31);
00150     C *= s;
00151     return C;
00152   }
00153 
00155   void Invert() { *this = GetInverse (); }
00156 
00158   float Determinant () const;
00159 
00161   void Identity ();
00162 
00164   bool IsIdentity () const;
00165 
00167   friend CS_CSGEOM_EXPORT csMatrix3 operator+ (const csMatrix3& m1, 
00168     const csMatrix3& m2);
00170   friend CS_CSGEOM_EXPORT csMatrix3 operator- (const csMatrix3& m1, 
00171     const csMatrix3& m2);
00173   friend CS_CSGEOM_EXPORT csMatrix3 operator* (const csMatrix3& m1, 
00174     const csMatrix3& m2);
00175 
00177   inline friend csVector3 operator* (const csMatrix3& m, const csVector3& v)
00178   {
00179     return csVector3 (m.m11*v.x + m.m12*v.y + m.m13*v.z,
00180                       m.m21*v.x + m.m22*v.y + m.m23*v.z,
00181                       m.m31*v.x + m.m32*v.y + m.m33*v.z);
00182   }
00183 
00185   friend CS_CSGEOM_EXPORT csMatrix3 operator* (const csMatrix3& m, float f);
00187   friend CS_CSGEOM_EXPORT csMatrix3 operator* (float f, const csMatrix3& m);
00189   friend CS_CSGEOM_EXPORT csMatrix3 operator/ (const csMatrix3& m, float f);
00191   friend CS_CSGEOM_EXPORT bool operator== (const csMatrix3& m1, 
00192     const csMatrix3& m2);
00194   friend CS_CSGEOM_EXPORT bool operator!= (const csMatrix3& m1, 
00195     const csMatrix3& m2);
00197   friend CS_CSGEOM_EXPORT bool operator< (const csMatrix3& m, float f);
00199   friend CS_CSGEOM_EXPORT bool operator> (float f, const csMatrix3& m);
00200 };
00201 
00203 class CS_CSGEOM_EXPORT csXRotMatrix3 : public csMatrix3
00204 {
00205 public:
00212   csXRotMatrix3 (float angle);
00213 };
00214 
00216 class CS_CSGEOM_EXPORT csYRotMatrix3 : public csMatrix3
00217 {
00218 public:
00225   csYRotMatrix3 (float angle);
00226 };
00227 
00229 class CS_CSGEOM_EXPORT csZRotMatrix3 : public csMatrix3
00230 {
00231 public:
00238   csZRotMatrix3 (float angle);
00239 };
00240 
00242 class CS_CSGEOM_EXPORT csXScaleMatrix3 : public csMatrix3
00243 {
00244 public:
00248   csXScaleMatrix3 (float scaler) : csMatrix3(scaler, 0, 0, 0, 1, 0, 0, 0, 1) {}
00249 };
00250 
00252 class CS_CSGEOM_EXPORT csYScaleMatrix3 : public csMatrix3
00253 {
00254 public:
00258   csYScaleMatrix3 (float scaler) : csMatrix3(1, 0, 0, 0, scaler, 0, 0, 0, 1) {}
00259 };
00260 
00262 class CS_CSGEOM_EXPORT csZScaleMatrix3 : public csMatrix3
00263 {
00264 public:
00268   csZScaleMatrix3 (float scaler) : csMatrix3(1, 0, 0, 0, 1, 0, 0, 0, scaler) {}
00269 };
00270 
00273 #endif // __CS_MATRIX3_H__

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