reactphysics3d/testbed/opengl-framework/src/maths/Matrix3.h
2015-07-29 18:15:20 +02:00

287 lines
12 KiB
C++

/********************************************************************************
* OpenGL-Framework *
* Copyright (c) 2013 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
#ifndef MATRIX3_H
#define MATRIX3_H
// Libraries
#include <cassert>
#include <limits>
#include "Vector3.h"
namespace openglframework {
// Class Matrix4
// This class represents a 4x4 matrix
class Matrix3 {
private :
// -------------------- Attributes -------------------- //
// Elements of the matrix
float m[3][3];
public :
// Constructor
Matrix3() {
setToNull();
}
// Constructor
Matrix3(float a1, float a2,
float a3, float b1, float b2, float b3,
float c1, float c2, float c3) {
setAllValues(a1, a2, a3, b1, b2, b3, c1, c2, c3);
}
// Constructor
Matrix3(float n[3][3]) {
m[0][0]=n[0][0]; m[0][1]=n[0][1]; m[0][2]=n[0][2];
m[1][0]=n[1][0]; m[1][1]=n[1][1]; m[1][2]=n[1][2];
m[2][0]=n[2][0]; m[2][1]=n[2][1]; m[2][2]=n[2][2];
}
// Constructor
Matrix3(const Vector3& a1, const Vector3& a2, const Vector3& a3) {
m[0][0] = a1.x; m[0][1] = a2.x; m[0][2] = a3.x;
m[1][0] = a1.y; m[1][1] = a2.y; m[1][2] = a3.y;
m[2][0] = a1.z; m[2][1] = a2.z; m[2][2] = a3.z;
}
// Constructor
Matrix3(const Matrix3& matrix) {
setAllValues(matrix.m[0][0], matrix.m[0][1], matrix.m[0][2],
matrix.m[1][0], matrix.m[1][1], matrix.m[1][2],
matrix.m[2][0], matrix.m[2][1], matrix.m[2][2]);
}
// Method to get a value in the matrix
float getValue(int i, int j) const {
assert(i>=0 && i<3 && j>=0 && j<3);
return m[i][j];
}
// Method to set a value in the matrix
void setValue(int i, int j, float value) {
assert(i>=0 && i<3 && j>=0 && j<3);
m[i][j] = value;
}
// Method to set all the values in the matrix
void setAllValues(float a1, float a2, float a3, float b1, float b2, float b3,
float c1, float c2, float c3) {
m[0][0] = a1; m[0][1] = a2; m[0][2] = a3;
m[1][0] = b1; m[1][1] = b2; m[1][2] = b3;
m[2][0] = c1; m[2][1] = c2; m[2][2] = c3;
}
// Return a column
Vector3 getColumn(int i) const {
assert(i>= 0 && i<3);
return Vector3(m[0][i], m[1][i], m[2][i]);
}
// Return the transpose matrix
Matrix3 getTranspose() const {
// Return the transpose matrix
return Matrix3(m[0][0], m[1][0], m[2][0],
m[0][1], m[1][1], m[2][1],
m[0][2], m[1][2], m[2][2]);
}
// Return the determinant of the matrix
float getDeterminant() const {
// Compute and return the determinant of the matrix
return (m[0][0]*(m[1][1]*m[2][2]-m[2][1]*m[1][2]) - m[0][1]*(m[1][0]*m[2][2]-m[2][0]*m[1][2]) +
m[0][2]*(m[1][0]*m[2][1]-m[2][0]*m[1][1]));
}
// Return the trace of the matrix
float getTrace() const {
// Compute and return the trace
return (m[0][0] + m[1][1] + m[2][2]);
}
void setToNull() {
m[0][0] = 0.0; m[0][1] = 0.0; m[0][2] = 0.0;
m[1][0] = 0.0; m[1][1] = 0.0; m[1][2] = 0.0;
m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 0.0;
}
bool isNull() const {
Matrix3 zero;
return *this == zero;
}
// Set the matrix to the identity matrix
void setToIdentity() {
m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0;
m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0;
m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0;
}
bool isIdentity() const {
Matrix3 I;
I.setToIdentity();
return ( *this == I );
}
// Return the inverse matrix
Matrix3 getInverse() const {
// Compute the determinant of the matrix
float determinant = getDeterminant();
// Check if the determinant is equal to zero
assert(determinant > std::numeric_limits<float>::epsilon());
float invDeterminant = 1.0f / determinant;
Matrix3 tempMatrix((m[1][1]*m[2][2]-m[2][1]*m[1][2]), -(m[0][1]*m[2][2]-m[2][1]*m[0][2]), (m[0][1]*m[1][2]-m[0][2]*m[1][1]),
-(m[1][0]*m[2][2]-m[2][0]*m[1][2]), (m[0][0]*m[2][2]-m[2][0]*m[0][2]), -(m[0][0]*m[1][2]-m[1][0]*m[0][2]),
(m[1][0]*m[2][1]-m[2][0]*m[1][1]), -(m[0][0]*m[2][1]-m[2][0]*m[0][1]), (m[0][0]*m[1][1]-m[0][1]*m[1][0]));
// Return the inverse matrix
return (tempMatrix * invDeterminant);
}
// Display the matrix
void print() const {
for (int i=0; i<3; i++) {
for (int j=0; j<3; j++) {
std::cout << m[i][j] << " ";
}
std::cout << std::endl;
}
}
// Overloaded operator =
Matrix3& operator=(const Matrix3& matrix) {
if (&matrix != this) {
setAllValues(matrix.m[0][0], matrix.m[0][1], matrix.m[0][2],
matrix.m[1][0], matrix.m[1][1], matrix.m[1][2],
matrix.m[2][0], matrix.m[2][1], matrix.m[2][2]);
}
return *this;
}
// Overloaded operator for addition
Matrix3 operator+(const Matrix3& matrix2) {
return Matrix3(m[0][0] + matrix2.m[0][0], m[0][1] + matrix2.m[0][1], m[0][2] + matrix2.m[0][2],
m[1][0] + matrix2.m[1][0], m[1][1] + matrix2.m[1][1], m[1][2] + matrix2.m[1][2],
m[2][0] + matrix2.m[2][0], m[2][1] + matrix2.m[2][1], m[2][2] + matrix2.m[2][2]);
}
// Overloaded operator for substraction
Matrix3 operator-(const Matrix3& matrix2) {
return Matrix3(m[0][0] - matrix2.m[0][0], m[0][1] - matrix2.m[0][1], m[0][2] - matrix2.m[0][2],
m[1][0] - matrix2.m[1][0], m[1][1] - matrix2.m[1][1], m[1][2] - matrix2.m[1][2],
m[2][0] - matrix2.m[2][0], m[2][1] - matrix2.m[2][1], m[2][2] - matrix2.m[2][2]);
}
// Overloaded operator for the negative of the matrix
Matrix3 operator-() {
return Matrix3(-m[0][0], -m[0][1], -m[0][2],
-m[1][0], -m[1][1], -m[1][2],
-m[2][0], -m[2][1], -m[2][2]);
}
// Overloaded operator for multiplication with a number
Matrix3 operator*(float nb) {
return Matrix3(m[0][0] * nb, m[0][1] * nb, m[0][2] * nb,
m[1][0] * nb, m[1][1] * nb, m[1][2] * nb,
m[2][0] * nb, m[2][1] * nb, m[2][2] * nb);
}
// Overloaded operator for matrix multiplication
Matrix3 operator*(const Matrix3& matrix2) {
return Matrix3(m[0][0]*matrix2.m[0][0] + m[0][1]*matrix2.m[1][0] + m[0][2]*matrix2.m[2][0],
m[0][0]*matrix2.m[0][1] + m[0][1]*matrix2.m[1][1] + m[0][2]*matrix2.m[2][1],
m[0][0]*matrix2.m[0][2] + m[0][1]*matrix2.m[1][2] + m[0][2]*matrix2.m[2][2],
m[1][0]*matrix2.m[0][0] + m[1][1]*matrix2.m[1][0] + m[1][2]*matrix2.m[2][0],
m[1][0]*matrix2.m[0][1] + m[1][1]*matrix2.m[1][1] + m[1][2]*matrix2.m[2][1],
m[1][0]*matrix2.m[0][2] + m[1][1]*matrix2.m[1][2] + m[1][2]*matrix2.m[2][2],
m[2][0]*matrix2.m[0][0] + m[2][1]*matrix2.m[1][0] + m[2][2]*matrix2.m[2][0],
m[2][0]*matrix2.m[0][1] + m[2][1]*matrix2.m[1][1] + m[2][2]*matrix2.m[2][1],
m[2][0]*matrix2.m[0][2] + m[2][1]*matrix2.m[1][2] + m[2][2]*matrix2.m[2][2]);
}
// Overloaded operator for multiplication with a vector
Vector3 operator*(const Vector3& vector) {
return Vector3(m[0][0]*vector.x + m[0][1]*vector.y + m[0][2]*vector.z,
m[1][0]*vector.x + m[1][1]*vector.y + m[1][2]*vector.z,
m[2][0]*vector.x + m[2][1]*vector.y + m[2][2]*vector.z);
}
// Overloaded operator for equality condition
bool operator==(const Matrix3& matrix) const {
return (m[0][0] == matrix.m[0][0] && m[0][1] == matrix.m[0][1] && m[0][2] == matrix.m[0][2] &&
m[1][0] == matrix.m[1][0] && m[1][1] == matrix.m[1][1] && m[1][2] == matrix.m[1][2] &&
m[2][0] == matrix.m[2][0] && m[2][1] == matrix.m[2][1] && m[2][2] == matrix.m[2][2]);
}
// Overloaded operator for the is different condition
bool operator!= (const Matrix3& matrix) const {
return !(*this == matrix);
}
// Overloaded operator for addition with assignment
Matrix3& operator+=(const Matrix3& matrix) {
m[0][0] += matrix.m[0][0]; m[0][1] += matrix.m[0][1]; m[0][2] += matrix.m[0][2];
m[1][0] += matrix.m[1][0]; m[1][1] += matrix.m[1][1]; m[1][2] += matrix.m[1][2];
m[2][0] += matrix.m[2][0]; m[2][1] += matrix.m[2][1]; m[2][2] += matrix.m[2][2];
return *this;
}
// Overloaded operator for substraction with assignment
Matrix3& operator-=(const Matrix3& matrix) {
m[0][0] -= matrix.m[0][0]; m[0][1] -= matrix.m[0][1]; m[0][2] -= matrix.m[0][2];
m[1][0] -= matrix.m[1][0]; m[1][1] -= matrix.m[1][1]; m[1][2] -= matrix.m[1][2];
m[2][0] -= matrix.m[2][0]; m[2][1] -= matrix.m[2][1]; m[2][2] -= matrix.m[2][2];
return *this;
}
// Overloaded operator for multiplication with a number with assignment
Matrix3& operator*=(float nb) {
m[0][0] *= nb; m[0][1] *= nb; m[0][2] *= nb;
m[1][0] *= nb; m[1][1] *= nb; m[1][2] *= nb;
m[2][0] *= nb; m[2][1] *= nb; m[2][2] *= nb;
return *this;
}
// Return the identity matrix
static Matrix3 identity() {
return Matrix3(1, 0, 0,
0, 1, 0,
0, 0, 1);
}
};
}
#endif