diff --git a/sources/reactphysics3d/Matrix3x3.h b/sources/reactphysics3d/Matrix3x3.h deleted file mode 100644 index ede01190..00000000 --- a/sources/reactphysics3d/Matrix3x3.h +++ /dev/null @@ -1,150 +0,0 @@ -/**************************************************************************** - * Copyright (C) 2009 Daniel Chappuis * - **************************************************************************** - * This file is part of ReactPhysics3D. * - * * - * ReactPhysics3D is free software: you can redistribute it and/or modify * - * it under the terms of the GNU General Public License as published by * - * the Free Software Foundation, either version 3 of the License, or * - * (at your option) any later version. * - * * - * ReactPhysics3D 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 General Public License for more details. * - * * - * You should have received a copy of the GNU General Public License * - * along with ReactPhysics3D. If not, see . * - ***************************************************************************/ - - -#ifndef MATRIX3X3_H -#define MATRIX3X3_H - -// Libraries -#include "exceptions.h" -#include "Quaternion.h" - -// ReactPhysics3D namespace -namespace reactphysics3d { - - -/* ------------------------------------------------------------------- - Class Matrix3x3 : - This class represents a 3x3 matrix. - ------------------------------------------------------------------- -*/ -class Matrix3x3 { - private : - double array[3][3]; // Array with the values of the matrix - - public : - Matrix3x3(); // Constructor of the class Matrix3x3 - Matrix3x3(double a1, double a2, double a3, double b1, double b2, double b3, - double c1, double c2, double c3); // Constructor with arguments - Matrix3x3(const Matrix3x3& matrix); // Copy-constructor - Matrix3x3(const Quaternion& quaternion); // Create a Matrix3x3 from a Quaternion - virtual ~Matrix3x3(); // Destructor - double getValue(int i, int j) const throw(std::invalid_argument); // Get a value in the matrix - void setValue(int i, int j, double value) throw(std::invalid_argument); // Set a value in the matrix - void setAllValues(double a1, double a2, double a3, double b1, double b2, double b3, - double c1, double c2, double c3); // Set all the values in the matrix - Matrix3x3 getTranspose() const; // Return the transpose matrix - double getDeterminant() const; // Return the determinant of the matrix - double getTrace() const; // Return the trace of the matrix - Matrix3x3 getInverse() const throw(MathematicsException); // Return the inverse matrix - Quaternion getQuaternion() const; // Return the unit quaternion corresponding to the matrix - static Matrix3x3 identity(); // Return the 3x3 identity matrix - - void display() const; // TO DELETE - - // --- Overloaded operators --- // - Matrix3x3 operator+(const Matrix3x3& matrix2) const; // Overloaded operator for addition - Matrix3x3 operator-(const Matrix3x3& matrix2) const ; // Overloaded operator for substraction - Matrix3x3 operator*(double nb) const; // Overloaded operator for multiplication with a number - Matrix3x3 operator*(const Matrix3x3& matrix2) const; // Overloaded operator for multiplication with a matrix - Matrix3x3& operator=(const Matrix3x3& matrix2); // Overloaded operator for assignment - bool operator==(const Matrix3x3& matrix2) const; // Overloaded operator for equality condition -}; - - -// Method to get a value in the matrix (inline) -inline double Matrix3x3::getValue(int i, int j) const throw(std::invalid_argument) { - // Check the argument - if (i>=0 && i<3 && j>=0 && j<3) { - // Return the value - return array[i][j]; - } - else { - // Throw an exception because of the wrong argument - throw std::invalid_argument("Exception : The argument isn't in the bounds of the 3x3 matrix"); - } -} - -// Method to set a value in the matrix (inline) -inline void Matrix3x3::setValue(int i, int j, double value) throw(std::invalid_argument) { - // Check the argument - if (i>=0 && i<3 && j>=0 && j<3) { - // Set the value - array[i][j] = value; - } - else { - // Throw an exception because of the wrong argument - throw std::invalid_argument("Exception : The argument isn't in the bounds of the 3x3 matrix"); - } -} // End of the dcmaths namespace - -// Method to set all the values in the matrix -inline void Matrix3x3::setAllValues(double a1, double a2, double a3, double b1, double b2, double b3, - double c1, double c2, double c3) { - // Set all the values of the matrix - array[0][0] = a1; - array[0][1] = a2; - array[0][2] = a3; - - array[1][0] = b1; - array[1][1] = b2; - array[1][2] = b3; - - array[2][0] = c1; - array[2][1] = c2; - array[2][2] = c3; -} - -// Return the transpose matrix -inline Matrix3x3 Matrix3x3::getTranspose() const { - // Return the transpose matrix - return Matrix3x3(array[0][0], array[1][0], array[2][0], - array[0][1], array[1][1], array[2][1], - array[0][2], array[1][2], array[2][2]); -} - -// Return the determinant of the matrix -inline double Matrix3x3::getDeterminant() const { - // Compute and return the determinant of the matrix - return (array[0][0]*(array[1][1]*array[2][2]-array[2][1]*array[1][2]) - array[0][1]*(array[1][0]*array[2][2]-array[2][0]*array[1][2]) + - array[0][2]*(array[1][0]*array[2][1]-array[2][0]*array[1][1])); -} - -// Return the trace of the matrix -inline double Matrix3x3::getTrace() const { - // Compute and return the trace - return (array[0][0] + array[1][1] + array[2][2]); -} - -// Overloaded operator for multiplication between a number and a Matrix3x3 (inline) -inline Matrix3x3 operator*(double number, const Matrix3x3& matrix) { - // Return the multiplied matrix - return matrix * number; -} - -// Overloaded operator for equality condition -inline bool Matrix3x3::operator==(const Matrix3x3& matrix2) const { - return (array[0][0] == matrix2.array[0][0] && array[0][1] == matrix2.array[0][1] && array[0][2] == matrix2.array[0][2] && - array[1][0] == matrix2.array[1][0] && array[1][1] == matrix2.array[1][1] && array[1][2] == matrix2.array[1][2] && - array[2][0] == matrix2.array[2][0] && array[2][1] == matrix2.array[2][1] && array[2][2] == matrix2.array[2][2]); -} - -} // End of the ReactPhysics3D namespace - -#endif