/**************************************************************************** * 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 quaternion corresponding to the matrix (it returns a unit quaternion) static Matrix3x3 identityMatrix(); // 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