reactphysics3d/sources/mathematics/Matrix3x3.h
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/********************************************************************************
* 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