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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@76 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-02-09 16:59:43 +00:00
parent ee2cd6ff0b
commit 7aea2ba9e8
2 changed files with 18 additions and 20 deletions
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11
sources/reactphysics3d/mathematics/Matrix3x3.cpp
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@ -153,17 +153,6 @@ Matrix3x3 Matrix3x3::identity() {
return Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);
}
// TO DELETE, THIS IS JUST FOR TESTING MATRICES
void Matrix3x3::display() const {
for(int i=0; i<3; ++i) {
for(int j=0; j<3; ++j) {
std::cout << array[i][j] << " ";
}
std::cout << std::endl;
}
}
// Overloaded operator for addition
Matrix3x3 Matrix3x3::operator+(const Matrix3x3& matrix2) const {
// Return the sum matrix

15
sources/reactphysics3d/mathematics/Matrix3x3.h
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@ -24,6 +24,7 @@
// Libraries
#include "exceptions.h"
#include "Quaternion.h"
#include "Vector3D.h"
// ReactPhysics3D namespace
namespace reactphysics3d {
@ -45,6 +46,7 @@ class Matrix3x3 {
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,
@ -56,13 +58,12 @@ class Matrix3x3 {
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
Vector3D operator*(const Vector3D& vector3d) const; // Overloaded operator for multiplication with a vector
Matrix3x3& operator=(const Matrix3x3& matrix2); // Overloaded operator for assignment
bool operator==(const Matrix3x3& matrix2) const; // Overloaded operator for equality condition
};
@ -92,7 +93,7 @@ inline void Matrix3x3::setValue(int i, int j, double value) throw(std::invalid_a
// 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,
@ -138,6 +139,14 @@ inline Matrix3x3 operator*(double number, const Matrix3x3& matrix) {
return matrix * number;
}
// Overloaded operator for multiplication with a vector
inline Vector3D Matrix3x3::operator*(const Vector3D& vector3d) const {
// Compute and return the result
return Vector3D(array[0][0]*vector3d.getX() + array[0][1]*vector3d.getY() + array[0][2]*vector3d.getZ(),
array[1][0]*vector3d.getX() + array[1][1]*vector3d.getY() + array[1][2]*vector3d.getZ(),
array[2][0]*vector3d.getX() + array[2][1]*vector3d.getY() + array[2][2]*vector3d.getZ());
}
// 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] &&