/******************************************************************************** * ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ * * Copyright (c) 2010 Daniel Chappuis * ********************************************************************************* * * * Permission is hereby granted, free of charge, to any person obtaining a copy * * of this software and associated documentation files (the "Software"), to deal * * in the Software without restriction, including without limitation the rights * * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * * copies of the Software, and to permit persons to whom the Software is * * furnished to do so, subject to the following conditions: * * * * The above copyright notice and this permission notice shall be included in * * all copies or substantial portions of the Software. * * * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * * THE SOFTWARE. * ********************************************************************************/ #ifndef MATRIX3X3_H #define MATRIX3X3_H // Libraries #include "exceptions.h" #include "Vector3D.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 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 static Matrix3x3 identity(); // Return the 3x3 identity matrix // --- 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 }; // 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"); } } // 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 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] && 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