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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@28 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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chappuis.daniel
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/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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#ifndef MATRIX3X3_H
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#define MATRIX3X3_H
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// Libraries
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#include "exceptions.h"
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#include "Quaternion.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class Matrix3x3 :
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This class represents a 3x3 matrix.
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-------------------------------------------------------------------
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*/
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class Matrix3x3 {
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private :
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double array[3][3]; // Array with the values of the matrix
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public :
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Matrix3x3(); // Constructor of the class Matrix3x3
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Matrix3x3(double a1, double a2, double a3, double b1, double b2, double b3,
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double c1, double c2, double c3); // Constructor with arguments
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Matrix3x3(const Matrix3x3& matrix); // Copy-constructor
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Matrix3x3(const Quaternion& quaternion); // Create a Matrix3x3 from a Quaternion
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virtual ~Matrix3x3(); // Destructor
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double getValue(int i, int j) const throw(std::invalid_argument); // Get a value in the matrix
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void setValue(int i, int j, double value) throw(std::invalid_argument); // Set a value in the matrix
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void setAllValues(double a1, double a2, double a3, double b1, double b2, double b3,
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double c1, double c2, double c3); // Set all the values in the matrix
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Matrix3x3 getTranspose() const; // Return the transpose matrix
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double getDeterminant() const; // Return the determinant of the matrix
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double getTrace() const; // Return the trace of the matrix
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Matrix3x3 getInverse() const throw(MathematicsException); // Return the inverse matrix
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Quaternion getQuaternion() const; // Return the unit quaternion corresponding to the matrix
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static Matrix3x3 identity(); // Return the 3x3 identity matrix
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void display() const; // TO DELETE
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// --- Overloaded operators --- //
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Matrix3x3 operator+(const Matrix3x3& matrix2) const; // Overloaded operator for addition
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Matrix3x3 operator-(const Matrix3x3& matrix2) const ; // Overloaded operator for substraction
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Matrix3x3 operator*(double nb) const; // Overloaded operator for multiplication with a number
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Matrix3x3 operator*(const Matrix3x3& matrix2) const; // Overloaded operator for multiplication with a matrix
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Matrix3x3& operator=(const Matrix3x3& matrix2); // Overloaded operator for assignment
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bool operator==(const Matrix3x3& matrix2) const; // Overloaded operator for equality condition
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};
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// Method to get a value in the matrix (inline)
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inline double Matrix3x3::getValue(int i, int j) const throw(std::invalid_argument) {
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// Check the argument
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if (i>=0 && i<3 && j>=0 && j<3) {
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// Return the value
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return array[i][j];
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}
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else {
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// Throw an exception because of the wrong argument
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throw std::invalid_argument("Exception : The argument isn't in the bounds of the 3x3 matrix");
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}
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}
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// Method to set a value in the matrix (inline)
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inline void Matrix3x3::setValue(int i, int j, double value) throw(std::invalid_argument) {
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// Check the argument
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if (i>=0 && i<3 && j>=0 && j<3) {
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// Set the value
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array[i][j] = value;
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}
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else {
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// Throw an exception because of the wrong argument
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throw std::invalid_argument("Exception : The argument isn't in the bounds of the 3x3 matrix");
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}
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} // End of the dcmaths namespace
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// Method to set all the values in the matrix
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inline void Matrix3x3::setAllValues(double a1, double a2, double a3, double b1, double b2, double b3,
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double c1, double c2, double c3) {
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// Set all the values of the matrix
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array[0][0] = a1;
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array[0][1] = a2;
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array[0][2] = a3;
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array[1][0] = b1;
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array[1][1] = b2;
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array[1][2] = b3;
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array[2][0] = c1;
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array[2][1] = c2;
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array[2][2] = c3;
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}
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// Return the transpose matrix
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inline Matrix3x3 Matrix3x3::getTranspose() const {
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// Return the transpose matrix
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return Matrix3x3(array[0][0], array[1][0], array[2][0],
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array[0][1], array[1][1], array[2][1],
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array[0][2], array[1][2], array[2][2]);
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}
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// Return the determinant of the matrix
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inline double Matrix3x3::getDeterminant() const {
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// Compute and return the determinant of the matrix
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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]) +
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array[0][2]*(array[1][0]*array[2][1]-array[2][0]*array[1][1]));
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}
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// Return the trace of the matrix
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inline double Matrix3x3::getTrace() const {
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// Compute and return the trace
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return (array[0][0] + array[1][1] + array[2][2]);
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}
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// Overloaded operator for multiplication between a number and a Matrix3x3 (inline)
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inline Matrix3x3 operator*(double number, const Matrix3x3& matrix) {
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// Return the multiplied matrix
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return matrix * number;
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}
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// Overloaded operator for equality condition
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inline bool Matrix3x3::operator==(const Matrix3x3& matrix2) const {
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return (array[0][0] == matrix2.array[0][0] && array[0][1] == matrix2.array[0][1] && array[0][2] == matrix2.array[0][2] &&
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array[1][0] == matrix2.array[1][0] && array[1][1] == matrix2.array[1][1] && array[1][2] == matrix2.array[1][2] &&
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array[2][0] == matrix2.array[2][0] && array[2][1] == matrix2.array[2][1] && array[2][2] == matrix2.array[2][2]);
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}
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} // End of the ReactPhysics3D namespace
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#endif
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