d762312d68
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@452 92aac97c-a6ce-11dd-a772-7fcde58d38e6
76 lines
3.6 KiB
C++
76 lines
3.6 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include <iostream>
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#include "Matrix3x3.h"
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// Namespaces
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using namespace reactphysics3d;
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// Constructor of the class Matrix3x3
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Matrix3x3::Matrix3x3() {
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// Initialize all values in the matrix to zero
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setAllValues(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
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}
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// Constructor
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Matrix3x3::Matrix3x3(double value) {
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setAllValues(value, value, value, value, value, value, value, value, value);
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}
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// Constructor with arguments
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Matrix3x3::Matrix3x3(double a1, double a2, double a3, double b1, double b2, double b3, double c1, double c2, double c3) {
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// Initialize the matrix with the values
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setAllValues(a1, a2, a3, b1, b2, b3, c1, c2, c3);
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}
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// Destructor
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Matrix3x3::~Matrix3x3() {
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}
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// Return the inverse matrix
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Matrix3x3 Matrix3x3::getInverse() const {
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// Compute the determinant of the matrix
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double determinant = getDeterminant();
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// Check if the determinant is equal to zero
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assert(determinant != 0.0);
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double invDeterminant = 1.0 / determinant;
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Matrix3x3 tempMatrix;
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// Compute the inverse of the matrix
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tempMatrix.setAllValues((array[1][1]*array[2][2]-array[2][1]*array[1][2]), -(array[1][0]*array[2][2]-array[2][0]*array[1][2]), (array[1][0]*array[2][1]-array[2][0]*array[1][1]),
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-(array[0][1]*array[2][2]-array[2][1]*array[0][2]), (array[0][0]*array[2][2]-array[2][0]*array[0][2]), -(array[0][0]*array[2][1]-array[2][0]*array[0][1]),
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(array[0][1]*array[1][2]-array[0][2]*array[1][1]), -(array[0][0]*array[1][2]-array[1][0]*array[0][2]), (array[0][0]*array[1][1]-array[0][1]*array[1][0]));
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// Return the inverse matrix
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return (invDeterminant * tempMatrix.getTranspose());
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}
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